#include <stdr_gui_controller.h>

Public Slots
void	co2PlaceSet (QPoint p)
	Gets the point at which the new CO2 source is placed. Connects to the CMapConnector::co2PlaceSet signal.
void	co2SensorVisibilityClicked (QString robotName, QString co2SensorName)
	Informs CGuiController that a CO2Sensor visibility status has \ been clicked. Connects to the CInfoConnector::co2SensorVisibilityClicked\ signal.
void	itemClicked (QPoint p, Qt::MouseButton b)
	Informs CGuiController that click has performed in the map. Connects to the CMapConnector::itemClicked signal.
void	laserVisibilityClicked (QString robotName, QString laserName)
	Informs CGuiController that a laser visibility status has been clicked. Connects to the CInfoConnector::laserVisibilityClicked signal.
void	laserVisualizerClicked (QString robotName, QString laserName)
	Informs CGuiController that a laser visualizer has been clicked. Connects to the CInfoConnector::laserVisualizerClicked signal.
void	loadCo2Pressed (void)
	Informs CGuiController that a CO2 source is going to be placed in the environment. Connects to the CGuiConnector::loadCo2Pressed signal.
void	loadRfidPressed (void)
	Informs CGuiController that an RFID is going to be placed in the environment. Connects to the CGuiConnector::loadRfidPressed signal.
void	loadRobotFromFilePressed (stdr_msgs::RobotMsg newRobotMsg)
	Informs CGuiController that a robot is loaded from a yaml file. Connects to the CGuiConnector::robotFromFile signal.
void	loadRobotPressed (stdr_msgs::RobotMsg newRobotMsg)
	Loads a robot from robot creator into map. Connects to the CGuiConnector::CRobotCreatorConnector::loadRobotPressed signal.
void	loadSoundPressed (void)
	Informs CGuiController that a sound source is going to be placed in the environment. Connects to the CGuiConnector::loadSoundPressed signal.
void	loadThermalPressed (void)
	Informs CGuiController that a thermal source is going to be placed in the environment. Connects to the CGuiConnector::loadThermalPressed signal.
void	rfidPlaceSet (QPoint p)
	Gets the point at which the new RFID tag is placed. Connects to the CMapConnector::robotPlaceSet signal.
void	rfidReaderVisibilityClicked (QString robotName, QString rfidReaderName)
	Informs CGuiController that a rfidReader visibility status has \ been clicked. Connects to the CInfoConnector::rfidReaderVisibilityClicked\ signal.
void	robotPlaceSet (QPoint p)
	Gets the point at which the new robot is placed. Connects to the CMapConnector::robotPlaceSet signal.
void	robotReplaceSet (QPoint p, std::string robotName)
	Informs CGuiController about the new pose of a robot. Connects to the CMapConnector::robotReplaceSet signal.
void	robotVisibilityClicked (QString robotName)
	Informs CGuiController that a robot visibility status has been clicked. Connects to the CInfoConnector::robotVisibilityClicked signal.
void	robotVisualizerClicked (QString robotName)
	Informs CGuiController that a robot visualizer has been clicked. Connects to the CInfoConnector::robotVisualizerClicked signal.
void	saveRobotPressed (stdr_msgs::RobotMsg newRobotMsg, QString file_name)
	Saves the robot in a yaml file. Connects to the CGuiConnector::CRobotCreatorConnector::saveRobotPressed signal.
void	sonarVisibilityClicked (QString robotName, QString sonarName)
	Informs CGuiController that a sonar visibility status has been clicked. Connects to the CInfoConnector::sonarVisibilityClicked signal.
void	sonarVisualizerClicked (QString robotName, QString sonarName)
	Informs CGuiController that a sonar visualizer has been clicked. Connects to the CInfoConnector::sonarVisualizerClicked signal.
void	soundPlaceSet (QPoint p)
	Gets the point at which the new sound source is placed. Connects to the CMapConnector::soundPlaceSet signal.
void	soundSensorVisibilityClicked (QString robotName, QString soundSensorName)
	Informs CGuiController that a sound Sensor visibility status has \ been clicked. Connects to the CInfoConnector::soundSensorVisibilityClicked\ signal.
void	thermalPlaceSet (QPoint p)
	Gets the point at which the new thermal source is placed. Connects to the CMapConnector::thermalPlaceSet signal.
void	thermalSensorVisibilityClicked (QString robotName, QString thermalSensorName)
	Informs CGuiController that a Thermal Sensor visibility status has \ been clicked. Connects to the CInfoConnector::thermalSensorVisibilityClicked\ signal.
void	updateMapInternal (void)
	Updates the map to be shown in GUI. Connects to the timeout signal of timer_.
void	zoomInPressed (QPoint p)
	Performs zoom in when the button is pressed. Connects to the CMapConnector::zoomInPressed signal.
void	zoomOutPressed (QPoint p)
	Performs zoom out when the button is pressed. Connects to the CMapConnector::zoomOutPressed signal.
Signals
void	replaceRobot (std::string robotFrameId)
	Is emitted when a robot is going to be re-placed. Connects to the CMapConnector::waitForReplace slot.
void	setCO2SensorVisibility (QString robotName, QString co2SensorName, char vs)
	Is emitted when a CO2 sensor's visibility status is going to be \ changed. Connects to the CInfoConnector::setCO2SensorVisibility slot.
void	setLaserVisibility (QString robotName, QString laserName, char vs)
	Is emitted when a laser's visibility status is going to be changed. Connects to the CInfoConnector::setLaserVisibility slot.
void	setRfidReaderVisibility (QString robotName, QString rfidReaderName, char vs)
	Is emitted when a rfid sensor's visibility status is going to be \ changed. Connects to the CInfoConnector::setRfidReaderVisibility slot.
void	setRobotVisibility (QString robotName, char vs)
	Is emitted when a robot's visibility status is going to be changed. Connects to the CInfoConnector::setRobotVisibility slot.
void	setSonarVisibility (QString robotName, QString sonarName, char vs)
	Is emitted when a sonar's visibility status is going to be changed. Connects to the CInfoConnector::setSonarVisibility slot.
void	setSoundSensorVisibility (QString robotName, QString soundSensorName, char vs)
	Is emitted when a sound sensor's visibility status is going to be \ changed. Connects to the CInfoConnector::setSoundSensorVisibility slot.
void	setThermalSensorVisibility (QString robotName, QString thermalSensorName, char vs)
	Is emitted when a thermal sensor's visibility status is going to be \ changed. Connects to the CInfoConnector::setThermalSensorVisibility slot.
void	waitForCo2Pose (void)
	Is emitted when a new CO2 source is going to be placed. Connects to the CMapConnector::waitForCo2Pose slot.
void	waitForRfidPose (void)
	Is emitted when a new rfid tag is going to be placed. Connects to the CMapConnector::waitForRfidPose slot.
void	waitForRobotPose (void)
	Is emitted when a new robot is going to be placed. Connects to the CMapConnector::waitForPlace slot.
void	waitForSoundPose (void)
	Is emitted when a new sound source is going to be placed. Connects to the CMapConnector::waitForSOundPose slot.
void	waitForThermalPose (void)
	Is emitted when a new thermal source is going to be placed. Connects to the CMapConnector::waitForThermalPose slot.
Public Member Functions
	CGuiController (int argc, char **argv)
	Default contructor.
void	cleanupVisualizers (const stdr_msgs::RobotIndexedVectorMsg &msg)
	Dumps all visualizers that connect to robots not existent in the input argument message.
bool	init ()
	Initializes the ROS spin and Qt threads.
void	initializeCommunications (void)
	Initializes the Qt event connections and ROS subscribers and publishers.
void	receiveCO2Sources (const stdr_msgs::CO2SourceVector &msg)
	Receives the existent co2 sources.
void	receiveMap (const nav_msgs::OccupancyGrid &msg)
	Receives the occupancy grid map from stdr_server. Connects to "map" ROS topic.
void	receiveRfids (const stdr_msgs::RfidTagVector &msg)
	Receives the existent rfid tags.
void	receiveRobots (const stdr_msgs::RobotIndexedVectorMsg &msg)
	Receives the robots from stdr_server. Connects to "stdr_server/active_robots" ROS topic.
void	receiveSoundSources (const stdr_msgs::SoundSourceVector &msg)
	Receives the existent sound sources.
void	receiveThermalSources (const stdr_msgs::ThermalSourceVector &msg)
	Receives the existent thermal sources.
void	setupWidgets (void)
	Sets up the main window widgets.
	~CGuiController (void)
	Default destructor.
Private Types
typedef std::map< QString, CGuiCo2Source >::iterator	Co2SourcesIterator
typedef std::map< QString, CLaserVisualisation * > ::iterator	LaserVisIterator
typedef std::map< QString, CGuiRfidTag >::iterator	RfidTagIterator
typedef std::map< QString, CRobotVisualisation * > ::iterator	RobotVisIterator
typedef std::map< QString, CSonarVisualisation * > ::iterator	SonarVisIterator
typedef std::map< QString, CGuiSoundSource >::iterator	SoundSourcesIterator
typedef std::map< QString, CGuiThermalSource >::iterator	ThermalSourcesIterator
	Number of input arguments.
Private Member Functions
stdr_msgs::LaserSensorMsg	getLaserDescription (QString robotName, QString laserName)
	Returns a stdr_msgs::LaserSensorMsg message from robot and laser name.
stdr_msgs::SonarSensorMsg	getSonarDescription (QString robotName, QString sonarName)
	Returns a stdr_msgs::SonarSensorMsg message from robot and sonar name.
Private Attributes
stdr_msgs::RobotIndexedVectorMsg	all_robots_
	Timer for the drawing event.
int	argc_
	Input arguments.
char **	argv_
	Prevents concurrent map writing.
stdr_msgs::CO2SourceVector	co2_source_pure_
	CO2 sources in the environment.
std::map< QString, CGuiCo2Source >	co2_sources_
	Sound sources in the environment.
ros::Subscriber	co2_sources_subscriber_
	ROS subscriber for thermal sources.
ros::ServiceClient	delete_co2_source_client_
	Service client for inserting a new thermal source.
ros::ServiceClient	delete_rfid_tag_client_
	Service client for inserting a new co2 source.
ros::ServiceClient	delete_sound_source_client_
ros::ServiceClient	delete_thermal_source_client_
	Service client for inserting a new sound source.
QTime	elapsed_time_
	QIcon for move robot (pop-up menu)
CGuiConnector	gui_connector_
	Object of CInfoConnector.
QIcon	icon_delete_
	QImage created one time, containing the OGM.
QIcon	icon_move_
	QIcon for delete robot (pop-up menu)
CInfoConnector	info_connector_
	Object of CMapConnector.
QImage	initial_map_
	QImage that initiates as initial_map and the elements are painted on it.
std::map< QString, CLaserVisualisation * >	laser_visualizers_
	Sonar visualizers.
tf::TransformListener	listener_
	The occypancy grid map.
CMapConnector	map_connector_
bool	map_initialized_
	All the robots server has.
bool	map_lock_
	Prevents actions before map initializes.
nav_msgs::OccupancyGrid	map_msg_
	Robot handler from stdr_robot.
ros::Subscriber	map_subscriber_
	ROS subscriber to get all robots.
std::set< std::string >	my_robots_
	Laser visualizers.
ros::NodeHandle	n_
	ROS tf transform listener.
ros::ServiceClient	new_co2_source_client_
	Service client for deleting a co2 source.
ros::ServiceClient	new_rfid_tag_client_
	Service client for deleting a rfid tag.
ros::ServiceClient	new_sound_source_client_
	Service client for deleting a sound source.
ros::ServiceClient	new_thermal_source_client_
	Service client for deleting a thermal source.
std::vector< CGuiRobot >	registered_robots_
	Robots created from the specific GUI instance.
stdr_msgs::RfidTagVector	rfid_tag_pure_
	Thermal sources in the environment.
std::map< QString, CGuiRfidTag >	rfid_tags_
	The original rfid vector.
ros::Subscriber	rfids_subscriber_
	ROS subscriber for co2 sources.
std::string	robot_following_
	Service client for inserting a new rfid tag.
stdr_robot::HandleRobot	robot_handler_
	All robots in "raw" form.
ros::Subscriber	robot_subscriber_
	ROS subscriber for rfids.
std::map< QString, CRobotVisualisation * >	robot_visualizers_
	RFID tags in the environment.
QImage	running_map_
	Object of CGuiConnector.
std::map< QString, CSonarVisualisation * >	sonar_visualizers_
	Robot visualizers.
stdr_msgs::SoundSourceVector	sound_source_pure_
	Sound sources in the environment.
std::map< QString, CGuiSoundSource >	sound_sources_
	ROS subscriber for occupancy grid map.
ros::Subscriber	sound_sources_subscriber_
	The ROS node handle.
stdr_msgs::ThermalSourceVector	thermal_source_pure_
	CO2 sources in the environment.
std::map< QString, CGuiThermalSource >	thermal_sources_
	The original vector.
ros::Subscriber	thermal_sources_subscriber_
	ROS subscriber for sound sources.
QTimer *	timer_
	Elapsed time from the experiment's start.

Detailed Description

Definition at line 56 of file stdr_gui_controller.h.

Member Typedef Documentation

typedef std::map<QString,CGuiCo2Source>::iterator stdr_gui::CGuiController::Co2SourcesIterator [private]

Definition at line 71 of file stdr_gui_controller.h.

typedef std::map<QString,CLaserVisualisation *>::iterator stdr_gui::CGuiController::LaserVisIterator [private]

Definition at line 65 of file stdr_gui_controller.h.

typedef std::map<QString,CGuiRfidTag>::iterator stdr_gui::CGuiController::RfidTagIterator [private]

Definition at line 70 of file stdr_gui_controller.h.

typedef std::map<QString,CRobotVisualisation *>::iterator stdr_gui::CGuiController::RobotVisIterator [private]

Definition at line 69 of file stdr_gui_controller.h.

typedef std::map<QString,CSonarVisualisation *>::iterator stdr_gui::CGuiController::SonarVisIterator [private]

Definition at line 67 of file stdr_gui_controller.h.

typedef std::map<QString,CGuiSoundSource>::iterator stdr_gui::CGuiController::SoundSourcesIterator [private]

Definition at line 72 of file stdr_gui_controller.h.

typedef std::map<QString,CGuiThermalSource>::iterator stdr_gui::CGuiController::ThermalSourcesIterator [private]

Number of input arguments.

Definition at line 76 of file stdr_gui_controller.h.

Constructor & Destructor Documentation

stdr_gui::CGuiController::CGuiController	(	int	argc,
		char **	argv
	)

Default contructor.

Parameters:

argc	[int] Number of input arguments
argv	[char **] Input arguments

Returns:: void

Definition at line 42 of file stdr_gui_controller.cpp.

stdr_gui::CGuiController::~CGuiController ( void )

Default destructor.

Returns:: void

Definition at line 71 of file stdr_gui_controller.cpp.

Member Function Documentation

void stdr_gui::CGuiController::cleanupVisualizers ( const stdr_msgs::RobotIndexedVectorMsg & msg )

Dumps all visualizers that connect to robots not existent in the input argument message.

Parameters:

msg	[const stdr_msgs::RobotIndexedVectorMsg&] The robots message

Returns:: void

Definition at line 664 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::co2PlaceSet ( QPoint p ) [slot]

Gets the point at which the new CO2 source is placed. Connects to the CMapConnector::co2PlaceSet signal.

Gets the point at which the new CO2 source is placed. Connects to the\ CMapConnector::co2PlaceSet signal.

Parameters:

p	[QPoint] The event point in the OGM

Returns:: void

< Getting co2 source id

Definition at line 859 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::co2SensorVisibilityClicked	(	QString	robotName,
		QString	co2SensorName
	)		`[slot]`

Informs CGuiController that a CO2Sensor visibility status has \ been clicked. Connects to the CInfoConnector::co2SensorVisibilityClicked\ signal.

Informs CGuiController that a co2 sensor visibility status has \ been clicked. Connects to the CInfoConnector::CO2SensorVisibilityClicked\ signal.

Parameters:

robotName	[QString] Frame id of the robot
co2SensorName	[QString] Frame id of the co2 sensor

Returns:: void

Definition at line 1590 of file stdr_gui_controller.cpp.

stdr_msgs::LaserSensorMsg stdr_gui::CGuiController::getLaserDescription	(	QString	robotName,
		QString	laserName
	)		`[private]`

Returns a stdr_msgs::LaserSensorMsg message from robot and laser name.

Parameters:

robotName	[QString] Frame id of the robot
laserName	[QString] Frame id of the laser

Returns:: stdr_msgs::LaserSensorMsg

Definition at line 1155 of file stdr_gui_controller.cpp.

stdr_msgs::SonarSensorMsg stdr_gui::CGuiController::getSonarDescription	(	QString	robotName,
		QString	sonarName
	)		`[private]`

Returns a stdr_msgs::SonarSensorMsg message from robot and sonar name.

Parameters:

robotName	[QString] Frame id of the robot
sonarName	[QString] Frame id of the sonar

Returns:: stdr_msgs::SonarSensorMsg Frame id of the following robot

Parameters:

robotName	[QString] Frame id of the robot
sonarName	[QString] Frame id of the sonar

Returns:: stdr_msgs::SonarSensorMsg

Definition at line 1184 of file stdr_gui_controller.cpp.

bool stdr_gui::CGuiController::init ( void )

Initializes the ROS spin and Qt threads.

Returns:: bool

Definition at line 349 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::initializeCommunications ( void )

Initializes the Qt event connections and ROS subscribers and publishers.

Returns:: void

< Rfid related

< CO2 related

< Thermal related

< Sound related

Definition at line 80 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::itemClicked	(	QPoint	p,
		Qt::MouseButton	b
	)		`[slot]`

Informs CGuiController that click has performed in the map. Connects to the CMapConnector::itemClicked signal.

Parameters:

p	[QPoint] The event point in map
b	[Qt::MouseButton] The mouse button used to trigger the event

Returns:: void

< To avoid crashes as rfid_tags_ changes size

Definition at line 1286 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::laserVisibilityClicked	(	QString	robotName,
		QString	laserName
	)		`[slot]`

Informs CGuiController that a laser visibility status has been clicked. Connects to the CInfoConnector::laserVisibilityClicked signal.

Parameters:

robotName	[QString] Frame id of the robot
laserName	[QString] Frame id of the laser

Returns:: void

Definition at line 1523 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::laserVisualizerClicked	(	QString	robotName,
		QString	laserName
	)		`[slot]`

Informs CGuiController that a laser visualizer has been clicked. Connects to the CInfoConnector::laserVisualizerClicked signal.

Parameters:

robotName	[QString] Frame id of the robot
laserName	[QString] Frame id of the laser

Returns:: void

Definition at line 1213 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::loadCo2Pressed ( void ) [slot]

Informs CGuiController that a CO2 source is going to be placed in the environment. Connects to the CGuiConnector::loadCo2Pressed signal.

Returns:: void

Definition at line 609 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::loadRfidPressed ( void ) [slot]

Informs CGuiController that an RFID is going to be placed in the environment. Connects to the CGuiConnector::loadRfidPressed signal.

Returns:: void

Definition at line 583 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::loadRobotFromFilePressed ( stdr_msgs::RobotMsg newRobotMsg ) [slot]

Informs CGuiController that a robot is loaded from a yaml file. Connects to the CGuiConnector::robotFromFile signal.

Parameters:

newRobotMsg [stdr_msgs::RobotMsg] The robot to be put in the map

Returns:: void

Definition at line 568 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::loadRobotPressed ( stdr_msgs::RobotMsg newRobotMsg ) [slot]

Loads a robot from robot creator into map. Connects to the CGuiConnector::CRobotCreatorConnector::loadRobotPressed signal.

Parameters:

newRobotMsg [stdr_msgs::RobotMsg] The robot to be put in the map

Returns:: void

Definition at line 554 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::loadSoundPressed ( void ) [slot]

Informs CGuiController that a sound source is going to be placed in the environment. Connects to the CGuiConnector::loadSoundPressed signal.

Returns:: void

Definition at line 622 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::loadThermalPressed ( void ) [slot]

Informs CGuiController that a thermal source is going to be placed in the environment. Connects to the CGuiConnector::loadThermalPressed signal.

Returns:: void

Definition at line 596 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::receiveCO2Sources ( const stdr_msgs::CO2SourceVector & msg )

Receives the existent co2 sources.

Parameters:

msg	[const stdr_msgs::CO2SourceVector&] The CO2 source message

Returns:: void

Definition at line 391 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::receiveMap ( const nav_msgs::OccupancyGrid & msg )

Receives the occupancy grid map from stdr_server. Connects to "map" ROS topic.

Receives the occupancy grid map from stdr_server. Connects to "map" \ ROS topic.

Parameters:

msg	[const nav_msgs::OccupancyGrid&] The OGM message

Returns:: void

Definition at line 475 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::receiveRfids ( const stdr_msgs::RfidTagVector & msg )

Receives the existent rfid tags.

Parameters:

msg	[const stdr_msgs::RfidTagVector&] The rfid tags message

Returns:: void

Definition at line 365 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::receiveRobots ( const stdr_msgs::RobotIndexedVectorMsg & msg )

Receives the robots from stdr_server. Connects to "stdr_server/active_robots" ROS topic.

Parameters:

msg	[const stdr_msgs::RobotIndexedVectorMsg&] The robots message

Returns:: void

Definition at line 726 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::receiveSoundSources ( const stdr_msgs::SoundSourceVector & msg )

Receives the existent sound sources.

Parameters:

msg	[const stdr_msgs::SoundSourceVector&] The sound source message

Returns:: void

Definition at line 446 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::receiveThermalSources ( const stdr_msgs::ThermalSourceVector & msg )

Receives the existent thermal sources.

Parameters:

msg	[const stdr_msgs::ThermalSourceVector&] The thermal source message

Returns:: void

Definition at line 418 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::replaceRobot ( std::string robotFrameId ) [signal]

Is emitted when a robot is going to be re-placed. Connects to the CMapConnector::waitForReplace slot.

Parameters:

robotFrameId [std::string] The frame id of the robot to be re-placed

Returns:: void

void stdr_gui::CGuiController::rfidPlaceSet ( QPoint p ) [slot]

Gets the point at which the new RFID tag is placed. Connects to the CMapConnector::robotPlaceSet signal.

Gets the point at which the new RFID tag is placed. Connects to \ the CMapConnector::robotPlaceSet signal.

Parameters:

p	[QPoint] The event point in the OGM

Returns:: void

< Getting RFID tag id

Definition at line 809 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::rfidReaderVisibilityClicked	(	QString	robotName,
		QString	rfidReaderName
	)		`[slot]`

Informs CGuiController that a rfidReader visibility status has \ been clicked. Connects to the CInfoConnector::rfidReaderVisibilityClicked\ signal.

Parameters:

robotName	[QString] Frame id of the robot
rfidReaderName	[QString] Frame id of the rfidReader

Returns:: void

Definition at line 1569 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::robotPlaceSet ( QPoint p ) [slot]

Gets the point at which the new robot is placed. Connects to the CMapConnector::robotPlaceSet signal.

Parameters:

p	[QPoint] The event point in the OGM

Returns:: void

Definition at line 764 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::robotReplaceSet	(	QPoint	p,
		std::string	robotName
	)		`[slot]`

Informs CGuiController about the new pose of a robot. Connects to the CMapConnector::robotReplaceSet signal.

Parameters:

p	[QPoint] The event point in map
robotName	[std::string] The frame id of the re-placed robot

Returns:: void

Definition at line 1488 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::robotVisibilityClicked ( QString robotName ) [slot]

Informs CGuiController that a robot visibility status has been clicked. Connects to the CInfoConnector::robotVisibilityClicked signal.

Parameters:

robotName [QString] Frame id of the robot

Returns:: void

Definition at line 1655 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::robotVisualizerClicked ( QString robotName ) [slot]

Informs CGuiController that a robot visualizer has been clicked. Connects to the CInfoConnector::robotVisualizerClicked signal.

Parameters:

robotName [QString] Frame id of the robot

Returns:: void

Definition at line 1264 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::saveRobotPressed	(	stdr_msgs::RobotMsg	newRobotMsg,
		QString	file_name
	)		`[slot]`

Saves the robot in a yaml file. Connects to the CGuiConnector::CRobotCreatorConnector::saveRobotPressed signal.

Saves the robot in a file. Connects to the CGuiConnector::CRobotCreatorConnector::saveRobotPressed signal.

Parameters:

newRobotMsg	[stdr_msgs::RobotMsg] The robot to be saved
file_name	[QString] The yaml file for the robot to be saved

Returns:: void

Parameters:

newRobotMsg	[stdr_msgs::RobotMsg] The robot to be saved
file_name	[QString] The file for the robot to be saved

Returns:: void

Definition at line 535 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::setCO2SensorVisibility	(	QString	robotName,
		QString	co2SensorName,
		char	vs
	)		`[signal]`

Is emitted when a CO2 sensor's visibility status is going to be \ changed. Connects to the CInfoConnector::setCO2SensorVisibility slot.

Parameters:

robotName	[QString] The frame id of the robot containing the specific co2 reader
co2SensorName	[QString] The frame id of the CO2 sensor
vs	[char] The new visibility status

Returns:: void

void stdr_gui::CGuiController::setLaserVisibility	(	QString	robotName,
		QString	laserName,
		char	vs
	)		`[signal]`

Is emitted when a laser's visibility status is going to be changed. Connects to the CInfoConnector::setLaserVisibility slot.

Parameters:

robotName	[QString] The frame id of the robot containing the specific laser
laserName	[QString] The frame id of the laser
vs	[char] The new visibility status

Returns:: void

void stdr_gui::CGuiController::setRfidReaderVisibility	(	QString	robotName,
		QString	rfidReaderName,
		char	vs
	)		`[signal]`

Is emitted when a rfid sensor's visibility status is going to be \ changed. Connects to the CInfoConnector::setRfidReaderVisibility slot.

Parameters:

robotName	[QString] The frame id of the robot containing the specific rfid reader
rfidReaderName	[QString] The frame id of the rfidReader
vs	[char] The new visibility status

Returns:: void

void stdr_gui::CGuiController::setRobotVisibility	(	QString	robotName,
		char	vs
	)		`[signal]`

Is emitted when a robot's visibility status is going to be changed. Connects to the CInfoConnector::setRobotVisibility slot.

Parameters:

robotName	[QString] The frame id of the robot
vs	[char] The new visibility status

Returns:: void

void stdr_gui::CGuiController::setSonarVisibility	(	QString	robotName,
		QString	sonarName,
		char	vs
	)		`[signal]`

Is emitted when a sonar's visibility status is going to be changed. Connects to the CInfoConnector::setSonarVisibility slot.

Parameters:

robotName	[QString] The frame id of the robot containing the specific sonar
sonarName	[QString] The frame id of the laser
vs	[char] The new visibility status

Returns:: void

void stdr_gui::CGuiController::setSoundSensorVisibility	(	QString	robotName,
		QString	soundSensorName,
		char	vs
	)		`[signal]`

Is emitted when a sound sensor's visibility status is going to be \ changed. Connects to the CInfoConnector::setSoundSensorVisibility slot.

Parameters:

robotName	[QString] The frame id of the robot containing the specific sensor
soundSensorName	[QString] The frame id of the sound sensor
vs	[char] The new visibility status

Returns:: void

void stdr_gui::CGuiController::setThermalSensorVisibility	(	QString	robotName,
		QString	thermalSensorName,
		char	vs
	)		`[signal]`

Is emitted when a thermal sensor's visibility status is going to be \ changed. Connects to the CInfoConnector::setThermalSensorVisibility slot.

Parameters:

robotName	[QString] The frame id of the robot containing the specific sensor
thermalSensorName	[QString] The frame id of the thermal sensor
vs	[char] The new visibility status

Returns:: void

void stdr_gui::CGuiController::setupWidgets ( void )

Sets up the main window widgets.

Returns:: void

Definition at line 323 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::sonarVisibilityClicked	(	QString	robotName,
		QString	sonarName
	)		`[slot]`

Informs CGuiController that a sonar visibility status has been clicked. Connects to the CInfoConnector::sonarVisibilityClicked signal.

Parameters:

robotName	[QString] Frame id of the robot
sonarName	[QString] Frame id of the sonar

Returns:: void

Definition at line 1546 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::sonarVisualizerClicked	(	QString	robotName,
		QString	sonarName
	)		`[slot]`

Informs CGuiController that a sonar visualizer has been clicked. Connects to the CInfoConnector::sonarVisualizerClicked signal.

Parameters:

robotName	[QString] Frame id of the robot
sonarName	[QString] Frame id of the sonar

Returns:: void

Definition at line 1239 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::soundPlaceSet ( QPoint p ) [slot]

Gets the point at which the new sound source is placed. Connects to the CMapConnector::soundPlaceSet signal.

Gets the point at which the new sound source is placed. Connects to the\ CMapConnector::soundPlaceSet signal.

Parameters:

p	[QPoint] The event point in the OGM

Returns:: void

< Getting source id

Definition at line 958 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::soundSensorVisibilityClicked	(	QString	robotName,
		QString	soundSensorName
	)		`[slot]`

Informs CGuiController that a sound Sensor visibility status has \ been clicked. Connects to the CInfoConnector::soundSensorVisibilityClicked\ signal.

Informs CGuiController that a sound sensor visibility status has \ been clicked. Connects to the CInfoConnector::soundSensorVisibilityClicked\ signal.

Parameters:

robotName	[QString] Frame id of the robot
soundSensorName	[QString] Frame id of the sound sensor

Returns:: void

Definition at line 1633 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::thermalPlaceSet ( QPoint p ) [slot]

Gets the point at which the new thermal source is placed. Connects to the CMapConnector::thermalPlaceSet signal.

Gets the point at which the new thermal source is placed. Connects to the\ CMapConnector::thermalPlaceSet signal.

Parameters:

p	[QPoint] The event point in the OGM

Returns:: void

< Getting source id

Definition at line 908 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::thermalSensorVisibilityClicked	(	QString	robotName,
		QString	thermalSensorName
	)		`[slot]`

Informs CGuiController that a Thermal Sensor visibility status has \ been clicked. Connects to the CInfoConnector::thermalSensorVisibilityClicked\ signal.

Informs CGuiController that a thermal sensor visibility status has \ been clicked. Connects to the CInfoConnector::thermalSensorVisibilityClicked\ signal.

Parameters:

robotName	[QString] Frame id of the robot
thermalSensorName	[QString] Frame id of the thermal sensor

Returns:: void

Definition at line 1611 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::updateMapInternal ( void ) [slot]

Updates the map to be shown in GUI. Connects to the timeout signal of timer_.

Returns:: void

<--------------------------- Check if all visualisers are active

Definition at line 1006 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::waitForCo2Pose ( void ) [signal]

Is emitted when a new CO2 source is going to be placed. Connects to the CMapConnector::waitForCo2Pose slot.

Returns:: void

void stdr_gui::CGuiController::waitForRfidPose ( void ) [signal]

Is emitted when a new rfid tag is going to be placed. Connects to the CMapConnector::waitForRfidPose slot.

Returns:: void

void stdr_gui::CGuiController::waitForRobotPose ( void ) [signal]

Is emitted when a new robot is going to be placed. Connects to the CMapConnector::waitForPlace slot.

Returns:: void

void stdr_gui::CGuiController::waitForSoundPose ( void ) [signal]

Is emitted when a new sound source is going to be placed. Connects to the CMapConnector::waitForSOundPose slot.

Returns:: void

void stdr_gui::CGuiController::waitForThermalPose ( void ) [signal]

Is emitted when a new thermal source is going to be placed. Connects to the CMapConnector::waitForThermalPose slot.

Returns:: void

void stdr_gui::CGuiController::zoomInPressed ( QPoint p ) [slot]

Performs zoom in when the button is pressed. Connects to the CMapConnector::zoomInPressed signal.

Parameters:

p	[QPoint] The event point in the OGM

Returns:: void

Definition at line 636 of file stdr_gui_controller.cpp.

void stdr_gui::CGuiController::zoomOutPressed ( QPoint p ) [slot]

Performs zoom out when the button is pressed. Connects to the CMapConnector::zoomOutPressed signal.

Parameters:

p	[QPoint] The event point in the OGM

Returns:: void

Definition at line 650 of file stdr_gui_controller.cpp.

Member Data Documentation

stdr_msgs::RobotIndexedVectorMsg stdr_gui::CGuiController::all_robots_ [private]

Timer for the drawing event.

Definition at line 140 of file stdr_gui_controller.h.

int stdr_gui::CGuiController::argc_ [private]

Input arguments.

Definition at line 78 of file stdr_gui_controller.h.

char** stdr_gui::CGuiController::argv_ [private]

Prevents concurrent map writing.

Definition at line 81 of file stdr_gui_controller.h.

stdr_msgs::CO2SourceVector stdr_gui::CGuiController::co2_source_pure_ [private]

CO2 sources in the environment.

Definition at line 108 of file stdr_gui_controller.h.

std::map<QString,CGuiCo2Source> stdr_gui::CGuiController::co2_sources_ [private]

Sound sources in the environment.

Definition at line 110 of file stdr_gui_controller.h.

ros::Subscriber stdr_gui::CGuiController::co2_sources_subscriber_ [private]

ROS subscriber for thermal sources.

Definition at line 123 of file stdr_gui_controller.h.

ros::ServiceClient stdr_gui::CGuiController::delete_co2_source_client_ [private]

Service client for inserting a new thermal source.

Definition at line 195 of file stdr_gui_controller.h.

ros::ServiceClient stdr_gui::CGuiController::delete_rfid_tag_client_ [private]

Service client for inserting a new co2 source.

Definition at line 190 of file stdr_gui_controller.h.

ros::ServiceClient stdr_gui::CGuiController::delete_sound_source_client_ [private]

Definition at line 203 of file stdr_gui_controller.h.

ros::ServiceClient stdr_gui::CGuiController::delete_thermal_source_client_ [private]

Service client for inserting a new sound source.

Definition at line 200 of file stdr_gui_controller.h.

QTime stdr_gui::CGuiController::elapsed_time_ [private]

QIcon for move robot (pop-up menu)

Definition at line 145 of file stdr_gui_controller.h.

CGuiConnector stdr_gui::CGuiController::gui_connector_ [private]

Object of CInfoConnector.

Definition at line 157 of file stdr_gui_controller.h.

QIcon stdr_gui::CGuiController::icon_delete_ [private]

QImage created one time, containing the OGM.

Definition at line 150 of file stdr_gui_controller.h.

QIcon stdr_gui::CGuiController::icon_move_ [private]

QIcon for delete robot (pop-up menu)

Definition at line 147 of file stdr_gui_controller.h.

CInfoConnector stdr_gui::CGuiController::info_connector_ [private]

Object of CMapConnector.

Definition at line 159 of file stdr_gui_controller.h.

QImage stdr_gui::CGuiController::initial_map_ [private]

QImage that initiates as initial_map and the elements are painted on it.

Definition at line 152 of file stdr_gui_controller.h.

std::map<QString,CLaserVisualisation *> stdr_gui::CGuiController::laser_visualizers_ [private]

Sonar visualizers.

Definition at line 93 of file stdr_gui_controller.h.

tf::TransformListener stdr_gui::CGuiController::listener_ [private]

The occypancy grid map.

Definition at line 132 of file stdr_gui_controller.h.

CMapConnector stdr_gui::CGuiController::map_connector_ [private]

Definition at line 160 of file stdr_gui_controller.h.

bool stdr_gui::CGuiController::map_initialized_ [private]

All the robots server has.

Definition at line 86 of file stdr_gui_controller.h.

bool stdr_gui::CGuiController::map_lock_ [private]

Prevents actions before map initializes.

Definition at line 83 of file stdr_gui_controller.h.

nav_msgs::OccupancyGrid stdr_gui::CGuiController::map_msg_ [private]

Robot handler from stdr_robot.

Definition at line 135 of file stdr_gui_controller.h.

ros::Subscriber stdr_gui::CGuiController::map_subscriber_ [private]

ROS subscriber to get all robots.

Definition at line 117 of file stdr_gui_controller.h.

std::set<std::string> stdr_gui::CGuiController::my_robots_ [private]

Laser visualizers.

Definition at line 91 of file stdr_gui_controller.h.

ros::NodeHandle stdr_gui::CGuiController::n_ [private]

ROS tf transform listener.

Definition at line 129 of file stdr_gui_controller.h.

ros::ServiceClient stdr_gui::CGuiController::new_co2_source_client_ [private]

Service client for deleting a co2 source.

Definition at line 192 of file stdr_gui_controller.h.

ros::ServiceClient stdr_gui::CGuiController::new_rfid_tag_client_ [private]

Service client for deleting a rfid tag.

Definition at line 187 of file stdr_gui_controller.h.

ros::ServiceClient stdr_gui::CGuiController::new_sound_source_client_ [private]

Service client for deleting a sound source.

Definition at line 202 of file stdr_gui_controller.h.

ros::ServiceClient stdr_gui::CGuiController::new_thermal_source_client_ [private]

Service client for deleting a thermal source.

Definition at line 197 of file stdr_gui_controller.h.

std::vector<CGuiRobot> stdr_gui::CGuiController::registered_robots_ [private]

Robots created from the specific GUI instance.

Definition at line 88 of file stdr_gui_controller.h.

stdr_msgs::RfidTagVector stdr_gui::CGuiController::rfid_tag_pure_ [private]

Thermal sources in the environment.

Definition at line 102 of file stdr_gui_controller.h.

std::map<QString,CGuiRfidTag> stdr_gui::CGuiController::rfid_tags_ [private]

The original rfid vector.

Definition at line 100 of file stdr_gui_controller.h.

ros::Subscriber stdr_gui::CGuiController::rfids_subscriber_ [private]

ROS subscriber for co2 sources.

Definition at line 121 of file stdr_gui_controller.h.

std::string stdr_gui::CGuiController::robot_following_ [private]

Service client for inserting a new rfid tag.

Definition at line 185 of file stdr_gui_controller.h.

stdr_robot::HandleRobot stdr_gui::CGuiController::robot_handler_ [private]

All robots in "raw" form.

Definition at line 137 of file stdr_gui_controller.h.

ros::Subscriber stdr_gui::CGuiController::robot_subscriber_ [private]

ROS subscriber for rfids.

Definition at line 119 of file stdr_gui_controller.h.

std::map<QString,CRobotVisualisation *> stdr_gui::CGuiController::robot_visualizers_ [private]

RFID tags in the environment.

Definition at line 98 of file stdr_gui_controller.h.

QImage stdr_gui::CGuiController::running_map_ [private]

Object of CGuiConnector.

Definition at line 155 of file stdr_gui_controller.h.

std::map<QString,CSonarVisualisation *> stdr_gui::CGuiController::sonar_visualizers_ [private]

Robot visualizers.

Definition at line 95 of file stdr_gui_controller.h.

stdr_msgs::SoundSourceVector stdr_gui::CGuiController::sound_source_pure_ [private]

Sound sources in the environment.

Definition at line 112 of file stdr_gui_controller.h.

std::map<QString,CGuiSoundSource> stdr_gui::CGuiController::sound_sources_ [private]

ROS subscriber for occupancy grid map.

Definition at line 115 of file stdr_gui_controller.h.

ros::Subscriber stdr_gui::CGuiController::sound_sources_subscriber_ [private]

The ROS node handle.

Definition at line 127 of file stdr_gui_controller.h.

stdr_msgs::ThermalSourceVector stdr_gui::CGuiController::thermal_source_pure_ [private]

CO2 sources in the environment.

Definition at line 104 of file stdr_gui_controller.h.

std::map<QString,CGuiThermalSource> stdr_gui::CGuiController::thermal_sources_ [private]

The original vector.

Definition at line 106 of file stdr_gui_controller.h.

ros::Subscriber stdr_gui::CGuiController::thermal_sources_subscriber_ [private]

ROS subscriber for sound sources.

Definition at line 125 of file stdr_gui_controller.h.

QTimer* stdr_gui::CGuiController::timer_ [private]

Elapsed time from the experiment's start.

Definition at line 142 of file stdr_gui_controller.h.

The documentation for this class was generated from the following files:

Public Slots

Signals

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation