RadarCanvas.hpp

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#ifndef RQT_ENGAGEMENT_RADAR__RADARCANVAS_HPP
#define RQT_ENGAGEMENT_RADAR__RADARCANVAS_HPP
 
#include <QTimer>
 
#include <QDockWidget>
#include <QStringList>
#include <QWidget>
#include <QtSvg/QSvgWidget>
#include <QtSvg/QSvgRenderer>
 
#include <QPen>
#include <QBrush>
#include <QColor>
#include <QFont>
 
#include <QImage>
#include <QSize>
 
#include <QLine>
 
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <hri/hri.h>
 
#include <geometry_msgs/Vector3Stamped.h>
 
namespace Ui {
class RadarTabs;
};   
 
namespace rqt_human_radar {
 
class RadarCanvas :
    public QWidget {
 Q_OBJECT
    public:
        RadarCanvas(QWidget *parent, Ui::RadarTabs* ui);
        virtual ~RadarCanvas();
    public slots:
        void updatePixelPerMeter();
        void showId();
 
    protected:
        void paintEvent(QPaintEvent *event) override;
        void resizeEvent(QResizeEvent *event) override;
        void mousePressEvent(QMouseEvent* event) override;
 
    private:
        bool inScreen(double& x, double& y) const;
        void updateArcsToDraw();
 
        QTimer *timer_;
 
        hri::HRIListener hriListener_;
        tf::TransformListener tfListener_;
        geometry_msgs::Vector3Stamped versor_;
 
        // Drawing and painting objects
        QPen rangePen_;
        QBrush oddBrush_, evenBrush_;
        QFont font_, anglesFont_;
 
        // Stores the image being drawn
        QImage robotImage_;
        bool robotImageFound, personImageFound;
        std::string package_, robotImageFile_, personSvgFile_;
        std::map<std::string, QPolygon> peoplePosition_;
 
        // Svg renderer
        QSvgRenderer svgRenderer_;
        bool svgRendererInitialized_;
 
        int pixelPerMeter_;
 
        int arcsToDraw_;
 
        Qt::CheckState showIdValue_;
 
        // Radar drawing components
        double xOffset_, yOffset_;
 
        // New stuff to avoid using ui
        QWidget* widget_;
        Ui::RadarTabs* ui_;
 
        // ID clicked with mouse
        std::string idClicked_;
 
        // Reference frame
        std::string referenceFrame_;
 
};
 
} /* namespace */
#endif //RQT_TEMPLATE_PLUGIN_TEMPLATEWIDGET_HPP