NewLaserDataPainter.h

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

#ifndef NewLaserDataPainter_H
#define NewLaserDataPainter_H

#include <QtOpenGL>
#include <vector>

#include <sensor_msgs/LaserScan.h>

#include "PainterPlugin.h"
#include "Vec.h"

class NewLaserDataPainter: public PainterPlugin
{
    Q_OBJECT

  public:

    NewLaserDataPainter();

    ~NewLaserDataPainter();

    virtual void paint ( float next2DLayer );

    void updateData(const sensor_msgs::LaserScan::ConstPtr& msg);

  public slots:

    // virtual void processMessage ( Message* newMessage );

  private:

    std::vector<BaseLib::Math::Vec3f> m_WorldPoints;
    std::vector<float> m_Ranges;
    float m_RangeMax;
    unsigned int m_NumLaserPoints;
    bool m_FirstScan;
    std::vector<BaseLib::Math::Vec3f> m_UnitLaserDirections;
    float m_ScaleFactor;
};

#endif