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firarenderarea.h
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firarenderarea.h
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#ifndef FIRARENDERAREA_H
#define FIRARENDERAREA_H
#include <QWidget>
#include "pose.h"
#include "beliefstate.h"
#include <QMutex>
class FIRARenderArea : public QWidget
{
Q_OBJECT
public:
explicit FIRARenderArea(QWidget *parent = 0);
void setEndPose(Pose p);
Pose getEndPose();
void setTrajectory(QPainterPath p);
void toggleTrajectory(bool x) { drawTraj = x; this->update();}
BeliefState *beliefStateSh;
QMutex *bsMutex;
Pose predictedPose; // predicted pose of some bot.
protected:
void paintEvent(QPaintEvent *);
void drawField(QPainter &painter);
void drawBot(QPainter &painter, double botX, double botY, double botTheta, bool isHome);
void drawBall(QPainter &painter, double ballX, double ballY);
void drawPose(QPainter &painter); //index is 0 = end pose
void drawTrajectory(QPainter &painter);
void mousePressEvent(QMouseEvent *event);
void mouseReleaseEvent(QMouseEvent *);
void mouseMoveEvent(QMouseEvent *event);
bool scribbling;
int x[1], y[1]; //
double theta[1]; // All in QWidget coordinate system. Needs to be converted to our coordinates.
QPainterPath traj;
bool drawTraj;
signals:
public slots:
};
#endif // FIRARENDERAREA_H