qslamandnavwidget.h

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#ifndef _QSLAMANDNAV_WIDGET_H
#define _QSLAMANDNAV_WIDGET_H

#include "gmapping/gui/qmappainter.h"
#include "gmapping/gui/qpixmapdumper.h"
#include <gmapping/utils/point.h>
#include <list>

class QSLAMandNavWidget :  public QMapPainter{
        public:
                QSLAMandNavWidget( QWidget * parent = 0, const char * name = 0, WFlags f = 0);
                virtual ~QSLAMandNavWidget();
                std::list<GMapping::IntPoint > trajectoryPoints;
                GMapping::IntPoint robotPose;
                double robotHeading;
                
                bool slamRestart;
                bool slamFinished;
                bool enableMotion;
                bool startWalker;
                bool trajectorySent;
                bool goHome;
                bool wantsQuit;
                bool printHelp;
                bool saveGoalPoints;
                bool writeImages;
                bool drawRobot;
                QPixmapDumper dumper;


        protected:
                virtual void paintEvent ( QPaintEvent *paintevent );
                virtual void mousePressEvent ( QMouseEvent * e );
                virtual void keyPressEvent ( QKeyEvent * e );
};

#endif