ArmRotationWidget.h

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#ifndef ARMROTATIONWIDGET_H
#define ARMROTATIONWIDGET_H

#include <QtGui/QGraphicsView>
#include "joint.h"



class ArmRotationWidget : public QGraphicsView
 {
     Q_OBJECT

 public:
     ArmRotationWidget(QWidget *parent = 0);

     void itemMoved();//timer starts if a movement is detected
     void moveArmLeft();//moves the arm toward the robot
     void moveArmRight();//moves the arm far from the robot

 signals:
     void armAngle_rad(double value);//shoulder angle in radian

 protected:
     void timerEvent(QTimerEvent *event);//execute this function when the timer is up.
     void drawBackground(QPainter *painter, const QRectF &rect); // draw the widget background
     void scaleView(qreal scaleFactor); //scale the view

 private:
     int timerId;
     QPointF end_effector;
     bool shoulder;
     bool elbow;

 };



#endif // ARMROTATIONWIDGET_H