ParticleGridPainter.h

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/*******************************************************************************
 *  ParticleGridPainter.h
 *
 *  (C) 2007 AG Aktives Sehen <agas@uni-koblenz.de>
 *           Universitaet Koblenz-Landau
 *
 *  Additional information:
 *  $Id: $
 *******************************************************************************/

#ifndef ParticleGridPainter_H
#define ParticleGridPainter_H

#include "PainterPlugin.h"

#include "Messages/ParticleDataM.h"
#include "Workers/Math/Pose.h"

class ParticleGridPainter: public PainterPlugin
{
    Q_OBJECT

  public:

    ParticleGridPainter();

    ~ParticleGridPainter();

    virtual void paint ( float next2DLayer );

  public slots:

    virtual void processMessage ( Message* newMessage );

  private:

    void generateMesh();

    std::vector<ParticleDataM::ParticleData> m_ParticleData;
    float * m_WeightGrid;

    int m_ParticleBinCount;
    float m_ParticleBinDisplaySize;
    float m_ParticlePeekHeight;
    float m_HeightPeek;

    unsigned m_MinX;
    unsigned m_MinY;
    unsigned m_MaxX;
    unsigned m_MaxY;

    Pose m_RobotPose;

};

#endif