00001 #ifndef _QSLAMANDNAV_WIDGET_H 00002 #define _QSLAMANDNAV_WIDGET_H 00003 00004 #include "qmappainter.h" 00005 #include "qpixmapdumper.h" 00006 #include <utils/point.h> 00007 #include <list> 00008 00009 class QSLAMandNavWidget : public QMapPainter{ 00010 public: 00011 QSLAMandNavWidget( QWidget * parent = 0, const char * name = 0, WFlags f = 0); 00012 virtual ~QSLAMandNavWidget(); 00013 std::list<GMapping::IntPoint > trajectoryPoints; 00014 GMapping::IntPoint robotPose; 00015 double robotHeading; 00016 00017 bool slamRestart; 00018 bool slamFinished; 00019 bool enableMotion; 00020 bool startWalker; 00021 bool trajectorySent; 00022 bool goHome; 00023 bool wantsQuit; 00024 bool printHelp; 00025 bool saveGoalPoints; 00026 bool writeImages; 00027 bool drawRobot; 00028 QPixmapDumper dumper; 00029 00030 00031 protected: 00032 virtual void paintEvent ( QPaintEvent *paintevent ); 00033 virtual void mousePressEvent ( QMouseEvent * e ); 00034 virtual void keyPressEvent ( QKeyEvent * e ); 00035 }; 00036 00037 #endif 00038