navwin.h

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//
// drawing fns for nav fn
// 

#include <sys/time.h>
#include <stdio.h>
#include <stdlib.h>

#include <FL/Fl.H>
#include <FL/Fl_Double_Window.H>
#include <FL/Fl_Group.H>
#include <FL/Fl_Window.H>
#include <FL/fl_draw.H>

#include "navfn.h"

namespace iri_bspline_navfn {
  class NavWin 
    : public Fl_Double_Window
  {
    public:
      NavWin(int w, int h, const char *name);
      ~NavWin();

      int nw,nh;                        // width and height of image
      int pw,ph;                        // width and height of pot field
      int dec, inc;                     // decimation or expansion for display

      float maxval;                     // max potential value
      void drawPot(NavFn *nav); // draw everything...

      void drawOverlay();

      uchar *im;                        // image for drawing
      int *pc, *pn, *po;                // priority buffers
      int pce, pne, poe;                // buffer sizes
      int goal[2];
      int start[2];
      int *path;                        // path buffer, cell indices
      int pathlen;                      // how many we have
      int pathbuflen;           // how big the path buffer is

      void draw();                      // draw the image
  };
};