qmappainter.h

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#ifndef QMAPPAINTER_H
#define QMAPPAINTER_H
 
#include <qpainter.h>
#include <qpixmap.h>
#include <qstring.h>
#include <qwidget.h>
#include <gmapping/utils/gvalues.h>
#include <gmapping/utils/point.h>
 
class QMapPainter :  public QWidget{
        public:
                QMapPainter( QWidget * parent = 0, const char * name = 0, WFlags f = 0);
                virtual ~QMapPainter();
        public:
                template < typename Cell >
                void setPixmap(unsigned int xsize, unsigned int ysize, Cell** values);
                template < typename Iterator >
                void drawPoints(const Iterator& begin, const Iterator& end, unsigned char r,  unsigned char g, unsigned char b);
                void start(int period);
        protected:
                virtual void timerEvent(QTimerEvent * te);
                virtual void resizeEvent(QResizeEvent *);
                int timer;
                virtual void paintEvent ( QPaintEvent *paintevent );
                QPixmap * m_pixmap;
};
 
template <typename Cell>
void QMapPainter::setPixmap(unsigned int xsize, unsigned int ysize, Cell** values){
        QSize s(xsize, ysize);
        m_pixmap->resize(s);
        m_pixmap->fill(Qt::white);
        QPainter painter(m_pixmap);
        for (unsigned int x=0; x<(unsigned int)xsize; x++)
                for (unsigned int y=0; y<(unsigned int)ysize; y++){
                        double v=(double) values[x][y];
                        
                        if (v>=0){
                                unsigned int grayVal=(unsigned char) (255-(unsigned char)(255*v));
                                painter.setPen(QColor(grayVal, grayVal, grayVal));
                        } else {
                                painter.setPen(QColor(255, 100, 100));
                        }
                        painter.drawPoint(x,ysize-y);
                }
}
 
template < typename Iterator >
void QMapPainter::drawPoints(const Iterator& begin, const Iterator& end, unsigned char r,  unsigned char g, unsigned char b){
        QPainter painter(m_pixmap);
        painter.setPen(QColor(r,g,b));
        for (Iterator it=begin; it!=end; it++){
                GMapping::IntPoint p=(GMapping::IntPoint)*it;
                painter.drawPoint(p.x, height()-p.y);
        }
}
 
#endif