7 :
QMapPainter(parent, name, f), dumper(
"slamandnav", 1){
29 int my=height()-p.y();
30 if ( e->state()&Qt::ShiftButton && e->button()==Qt::LeftButton) {
41 if (e->key()==Qt::Key_Delete){
46 if (e->key()==Qt::Key_S){
50 if (e->key()==Qt::Key_W){
54 if (e->key()==Qt::Key_G){
58 if (e->key()==Qt::Key_T){
62 if (e->key()==Qt::Key_R){
66 if (e->key()==Qt::Key_C){
71 if (e->key()==Qt::Key_Q){
76 if (e->key()==Qt::Key_H){
82 if (e->key()==Qt::Key_Y){
88 if (e->key()==Qt::Key_D){
98 QPainter painter(&pixmap);
100 painter.setPen(Qt::red);
106 int y=height()-it->y;
108 painter.drawLine(oldx, oldy, x,y);
116 painter.setPen(Qt::black);
120 painter.drawLine(rx, ry,
122 painter.drawEllipse(rx-robotSize, ry-robotSize, 2*robotSize, 2*robotSize);
127 bitBlt(
this,0,0,&pixmap,0,0,pixmap.width(),pixmap.height(),CopyROP);