stdr_laser_visualization.h

Go to the documentation of this file.

/******************************************************************************
   STDR Simulator - Simple Two DImensional Robot Simulator
   Copyright (C) 2013 STDR Simulator
   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 3 of the License, or
   (at your option) any later version.
   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.
   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software Foundation,
   Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301  USA
   
   Authors : 
   * Manos Tsardoulias, etsardou@gmail.com
   * Aris Thallas, aris.thallas@gmail.com
   * Chris Zalidis, zalidis@gmail.com 
******************************************************************************/

#ifndef STDR_LASER_VISUALIZATION
#define STDR_LASER_VISUALIZATION

#include "stdr_gui/stdr_tools.h"
#include "ui_laserVisualization.h"

namespace stdr_gui
{
  class CLaserVisualisation : 
    public QWidget, 
    public Ui_laserVisualization
  {
    //------------------------------------------------------------------------//
    private:
      
      bool active_;
      float resolution_;
      
      sensor_msgs::LaserScan   scan_;
      ros::Subscriber     subscriber_;
      
      stdr_msgs::LaserSensorMsg msg_;
      
      QImage internal_image_;
      QImage void_image_;
      QString name_;
    
    //------------------------------------------------------------------------//
    public:
      CLaserVisualisation(QString name,float resolution);
      
      ~CLaserVisualisation(void);
    
      bool getActive(void);
      
      void setLaser(stdr_msgs::LaserSensorMsg msg);
      
      void destruct(void);
      
      void closeEvent(QCloseEvent *event);
      
      void callback(const sensor_msgs::LaserScan& msg); 
      
      void paint(void);
  };  
}

#endif