00001 #ifndef _QNAVIGATOR_WIDGET_H 00002 #define _QNAVIGATOR_WIDGET_H 00003 00004 #include "qmappainter.h" 00005 #include "qpixmapdumper.h" 00006 #include <utils/point.h> 00007 #include <list> 00008 00009 class QNavigatorWidget : public QMapPainter{ 00010 public: 00011 QNavigatorWidget( QWidget * parent = 0, const char * name = 0, WFlags f = 0); 00012 virtual ~QNavigatorWidget(); 00013 std::list<GMapping::IntPoint > trajectoryPoints; 00014 bool repositionRobot; 00015 GMapping::IntPoint robotPose; 00016 double robotHeading; 00017 bool confirmLocalization; 00018 bool enableMotion; 00019 bool startWalker; 00020 bool startGlobalLocalization; 00021 bool trajectorySent; 00022 bool goHome; 00023 bool wantsQuit; 00024 bool writeImages; 00025 QPixmapDumper dumper; 00026 bool drawRobot; 00027 00028 protected: 00029 virtual void paintEvent ( QPaintEvent *paintevent ); 00030 virtual void mousePressEvent ( QMouseEvent * e ); 00031 virtual void keyPressEvent ( QKeyEvent * e ); 00032 }; 00033 00034 #endif 00035