qnavigatorwidget.cpp

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#include "gmapping/gui/qnavigatorwidget.h"
#include <stdio.h>
using namespace GMapping;


QNavigatorWidget::QNavigatorWidget( QWidget * parent, const char * name, WFlags f)
: QMapPainter(parent, name, f), dumper("navigator", 1){
        robotPose=IntPoint(0,0);
        robotHeading=0;
        confirmLocalization=false;
        repositionRobot=false;
        startWalker=false;
        enableMotion=false;
        goHome=false;
        trajectorySent=false;
        writeImages=false;
        drawRobot=true;
        wantsQuit=false;
}

QNavigatorWidget::~QNavigatorWidget(){}


void QNavigatorWidget::mousePressEvent ( QMouseEvent * e ){
        QPoint p=e->pos();
        int mx=p.x();
        int my=height()-p.y();
        if (!(e->state()&Qt::ShiftButton) && e->button()==Qt::LeftButton) {
                if (trajectorySent)
                        trajectoryPoints.clear();
                e->accept();
                IntPoint p=IntPoint(mx, my);
                trajectoryPoints.push_back(p);
                trajectorySent=false;
        } 
        if (e->state()&Qt::ControlButton && e->button()==Qt::LeftButton){
                e->accept();
                robotPose=IntPoint(mx, my);
                repositionRobot=true;
                confirmLocalization=true;
        }
        if (e->state()&Qt::ControlButton && e->button()==Qt::RightButton){
                e->accept();
                IntPoint p(mx, my);
                p=p-robotPose;
                robotHeading=atan2(p.y, p.x);
                repositionRobot=true;
                confirmLocalization=true;
        }
}

void QNavigatorWidget::keyPressEvent ( QKeyEvent * e ){
        if (e->key()==Qt::Key_Delete){
                e->accept();
                if (!trajectoryPoints.empty())
                        trajectoryPoints.pop_back();
        }
        if (e->key()==Qt::Key_S){
                e->accept();
                enableMotion=!enableMotion;
        }
        if (e->key()==Qt::Key_W){
                e->accept();
                startWalker=!startWalker;
        }
        if (e->key()==Qt::Key_G){
                e->accept();
                startGlobalLocalization=true;
        }
        if (e->key()==Qt::Key_T){
                e->accept();
                trajectorySent=true;
        }
        if (e->key()==Qt::Key_R){
                e->accept();
                goHome=true;
        }       
        if (e->key()==Qt::Key_C){
                e->accept();
                confirmLocalization=true;
                
        }
        if (e->key()==Qt::Key_Q){
                e->accept();
                wantsQuit=true;
                
        }
        if (e->key()==Qt::Key_D){
                e->accept();
                drawRobot=!drawRobot;;
                
        }
}

void QNavigatorWidget::paintEvent ( QPaintEvent * ){
        QPixmap pixmap(*m_pixmap);
        QPainter painter(&pixmap);
        if (trajectorySent)
        painter.setPen(Qt::red);
        bool first=true;
        int oldx=0, oldy=0;
        //paint the path
        for (std::list<IntPoint>::const_iterator it=trajectoryPoints.begin(); it!=trajectoryPoints.end(); it++){
                int x=it->x;
                int y=height()-it->y;
                if (! first)
                        painter.drawLine(oldx, oldy, x,y);
                oldx=x;
                oldy=y;
                first=false;
        }
        //paint the robot
        if (drawRobot){
                painter.setPen(Qt::black);
                int rx=robotPose.x;
                int ry=height()-robotPose.y;
                int robotSize=6;
                painter.drawLine(rx, ry, 
                                rx+(int)(robotSize*cos(robotHeading)), ry-(int)(robotSize*sin(robotHeading)));
                painter.drawEllipse(rx-robotSize, ry-robotSize, 2*robotSize, 2*robotSize);
        }
        if (writeImages){
                dumper.dump(pixmap);
        }
        bitBlt(this,0,0,&pixmap,0,0,pixmap.width(),pixmap.height(),CopyROP);
}