This class is a Qt widget which displays the data (odometry and commands) of the controller. More...

#include <display.hpp>

Inheritance diagram for DataWidget:

Public Member Functions
void	addTrajectory (const std::list< State * > &trajectory)
	Adds a trajectory to the motion display. More...

	DataWidget (QWidget &parent)
	The constructor needs the ROS node whose data will be displayed. More...

void	newTrajectory ()
	Clears the motion display. More...

void	setOutput (const char *output_file_name)
	Change the output stream to a new file. More...

void	updateCommands (const double &trans_vel, const double &rot_vel)
	Update the display of the controller's commands. More...

void	updateState (const State &state)
	Update the display of the state. More...

	~DataWidget ()
	The destructor closes the output stream, if any. More...

Private Types
enum	Labels { tOdom, xOdom, yOdom, thOdom, vOdom, omOdom, vCmd, omCmd, nbLabels, nbOdoms = vCmd, nbCmds = nbLabels - nbOdoms }
	These are the indexes of the array of labels. More...

Private Member Functions
void	outputEnd ()
	Close and terminate the output stream. More...

bool	outputOK () const
	Is the output stream OK for writting? More...

void	setLabels (const Labels &offset, const Labels &nbData, const double *data)
	Transfer data into the labels. More...

Private Attributes
QLabel	labels [nbLabels]
	Array of labels displaying controller's data. More...

QPointF	last_vel
	The last command published. More...

QtMotionGUI	motion_GUI
	Window showing the motion's path and velocities. More...

std::ofstream *	output
	The output stream, if any. More...

Static Private Attributes
static const char *	names []
	Labels shown before the values, and headers in the ouput file. More...

Detailed Description

This class is a Qt widget which displays the data (odometry and commands) of the controller.

Since: 0.2.2

Definition at line 25 of file display.hpp.

Member Enumeration Documentation

enum DataWidget::Labels

private

These are the indexes of the array of labels.

Enumerator
tOdom	Index of the odometry's time.
xOdom	Index of the odometry's position abscissa.
yOdom	Index of the odometry's position ordinate.
thOdom	Index of the odometry's orientation.
vOdom	Index of the odometry's translation velocity.
omOdom	Index of the odometry's rotation velocity.
vCmd	Index of the commands' translation velocity.
omCmd	Index of the commands' rotation velocity.
nbLabels	Number of labels in the array.
nbOdoms	Number of odometry indexes.
nbCmds	Number of commands indexes.

Definition at line 33 of file display.hpp.

Constructor & Destructor Documentation

DataWidget::DataWidget ( QWidget & parent )

The constructor needs the ROS node whose data will be displayed.

Parameters

parent The windget containing this widget.

Definition at line 25 of file display.cpp.

DataWidget::~DataWidget ( )

inline

The destructor closes the output stream, if any.

Since: 0.2.3

Definition at line 91 of file display.hpp.

Member Function Documentation

void DataWidget::addTrajectory ( const std::list< State * > & trajectory )

inline

Adds a trajectory to the motion display.

Parameters

trajectory the trajectory to track.

See also: motion_GUI, QtMotionGUI::addTrajectory

Since: 0.3.1

Definition at line 116 of file display.hpp.

void DataWidget::newTrajectory ( )

inline

Clears the motion display.

See also: motion_GUI, QtMotionGUI::clear

Since: 0.3.2

Definition at line 121 of file display.hpp.

void DataWidget::outputEnd ( )

inlineprivate

Close and terminate the output stream.

Since: 0.2.3

Definition at line 78 of file display.hpp.

bool DataWidget::outputOK ( ) const

inlineprivate

Is the output stream OK for writting?

Returns: Yes if OK, no otherwise.

Since: 0.2.3

Definition at line 74 of file display.hpp.

void DataWidget::setLabels	(	const Labels &	offset,
		const Labels &	nbData,
		const double *	data
	)

private

Transfer data into the labels.

This is the common part of updateOdometry and updateCommands.

Parameters

offset	The initial index in the label array,
nbData	the number of data to transfer,
data	the array of data to display.

See also: labels.

Definition at line 69 of file display.cpp.

void DataWidget::setOutput ( const char * output_file_name )

inline

Change the output stream to a new file.

Parameters

output_file_name The output file name.

Since: 0.2.3

Definition at line 95 of file display.hpp.

void DataWidget::updateCommands	(	const double &	trans_vel,
		const double &	rot_vel
	)

Update the display of the controller's commands.

Parameters

trans_vel	the translation velocity sent to ROS,
rot_vel	the rotation velocity sent to ROS.

Since: 0.3.1

Definition at line 105 of file display.cpp.

void DataWidget::updateState ( const State & state )

Update the display of the state.

Parameters

state The state of the robot.

Since: 0.3.1

Definition at line 85 of file display.cpp.

Member Data Documentation

QLabel DataWidget::labels[nbLabels]

private

Array of labels displaying controller's data.

Definition at line 53 of file display.hpp.

QPointF DataWidget::last_vel

private

The last command published.

Since: 0.2.3

Definition at line 28 of file display.hpp.

QtMotionGUI DataWidget::motion_GUI

private

Window showing the motion's path and velocities.

Since: 0.3.1

Definition at line 57 of file display.hpp.

const char * DataWidget::names

staticprivate

Initial value:

=

{"t", "x", "y", "theta", "v", "omega", "v", "omega"}

Labels shown before the values, and headers in the ouput file.

Since: 0.2.3

Definition at line 49 of file display.hpp.

std::ofstream* DataWidget::output

private

The output stream, if any.

Since: 0.2.3

Definition at line 29 of file display.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation