qlaserdata.cpp

Go to the documentation of this file.

#include <QGraphicsScene>
#include <QPainter>
#include <QStyleOption>

#include "qlaserdata.h"
#include "qlaserdata.moc"


QLaserData::QLaserData(LDP ld): ld(ld)
{
        this->countour = createCountour();
        double *p = ld->estimate;
        setPos(QPointF(p[0],p[1]));
        rotate(CSM::rad2deg(p[2]));
}

QRectF QLaserData::boundingRect() const
{
        return countour.boundingRect();
}

QPainterPath QLaserData::shape() const
{
        return countour;
}

QPainterPath QLaserData::createCountour() {
        ld_compute_cartesian(ld);
        struct stroke_sequence sequence[ld->nrays];
        compute_stroke_sequence(ld, sequence, 100, 0.1);
        
        QPainterPath path;
        for(int i=0;i<ld->nrays;i++) {
                if(sequence[i].valid==0) continue;
                double *p = sequence[i].p;
                if(sequence[i].begin_new_stroke)
                        path.moveTo(p[0], p[1]);
                else
                        path.lineTo(p[0], p[1]);
        }
        return path;
}

void QLaserData::paint(QPainter *painter, const QStyleOptionGraphicsItem *, QWidget *)
{
         // Body
//              painter->setBrush(color);
/*       painter->drawEllipse(-10, -20, 20, 40);

         // Eyes
         painter->setBrush(Qt::white);
         painter->drawEllipse(-10, -17, 8, 8);
         painter->drawEllipse(2, -17, 8, 8);

         // Nose
         painter->setBrush(Qt::black);
         painter->drawEllipse(QRectF(-2, -22, 4, 4));


         // Ears
                painter->setBrush(scene()->collidingItems(this).isEmpty() ? Qt::darkYellow : Qt::red);
         painter->drawEllipse(-17, -12, 16, 16);
         painter->drawEllipse(1, -12, 16, 16);
*/
         // Tail
         painter->setPen(Qt::black);
         painter->setBrush(Qt::NoBrush);
/*       painter->setBrush(Qt::red);*/
         painter->drawPath(countour);
}

void QLaserData::timerEvent(QTimerEvent *)
{

  //    rotate(dx);
//              setPos(mapToParent(0, -(3 + sin(speed) * 3)));
}