overview.cpp

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#include <gui/overview.hpp>
#include <QGraphicsView>
#include <QVBoxLayout>

QtMotionGUI::QtMotionGUI() : motion_window(), not_first_state(false) {
  // Set the window's properties
  motion_window.setWindowTitle("Robot's Motion Overview");
  motion_window.setGeometry(200, 100, 800, 600);
  motion_window.setVisible(false);
  // Add the path scene in a first tab
  motion_window.addTab(new QGraphicsView(&path_scene),
                       "Motion's Path");
  // Add the velocities scenes in a second tab
  QWidget *vel_wdgt = new QWidget();
  QLayout *vel_layout = new QVBoxLayout(vel_wdgt);
  vel_layout->addWidget( new QGraphicsView(&trans_vel_scene) ); 
  vel_layout->addWidget( new QGraphicsView(&rot_vel_scene) ); 
  motion_window.addTab(vel_wdgt, "Motion's Velocities");
} // end of QtMotionGUI::QtMotionGUI() -------------------------------

void QtMotionGUI::addTrajectory(const std::list<State*>& trajectory) {
  static const Qt::GlobalColor traj_color = Qt::green;
  // adds each state of the trajectory, using traj_color
  for(std::list<State*>::const_iterator it = trajectory.begin();
      it != trajectory.end(); it++) {
    addState(**it, traj_color);
  } // end of for (each state of the trajectory)
  not_first_state = false; 
} // end of void QtMotionGUI::addTrajectory(const std::list<State*>&)-

void QtMotionGUI::addState(const State& state, 
                           const Qt::GlobalColor motion_color) {
  static const int abscIdx = 0, ordoIdx = abscIdx + 1,
    timeIdx = ordoIdx + 1, tranIdx = timeIdx + 1,  // was previously
    rotaIdx = tranIdx + 1, nmbrIdx = rotaIdx + 1;  // an enum
  if (not_first_state) { 
    // Setting the color
    const QPen motion_pen = QColor(motion_color);
    // Scalling factors
    static const double factors[nmbrIdx]
      = {50, 50, 25, 100, 300 / M_PI};
    // extract the data from the state
    const iSeeML::rob::OrPtConfig old_q = last_state.configuration(),
      q = state.configuration();
    const iSeeML::geom::Point  old_P = old_q.position(),
      P = q.position();
    // add a new line to the path (and redraw it)
    path_scene.addLine
      ( factors[abscIdx] * old_P.xCoord(), - factors[ordoIdx]
        * old_P.yCoord(), factors[abscIdx] * P.xCoord(),
        - factors[ordoIdx] * P.yCoord(), motion_pen );
    // add a new line to the translation velocity profile
    trans_vel_scene.addLine
      (factors[timeIdx] * last_state.date(),
       - factors[tranIdx] * last_state.translationVelocity(),
       factors[timeIdx] * state.date(),
       - factors[tranIdx] * state.translationVelocity(), motion_pen);
    // add a new line to the rotation velocity profile
    rot_vel_scene.addLine
      (factors[timeIdx] * last_state.date(),
       - factors[rotaIdx] * last_state.rotationVelocity(),
       factors[timeIdx] * state.date(),
       - factors[rotaIdx] * state.rotationVelocity(), motion_pen);
  } // end of if (not first state)
  else {
    not_first_state = true; 
  } // end of else (first state)
  // memorize the last state for future drawing
  last_state = state;
} // end of void QtMotionGUI::addState(double[]) ---------------------

void QtMotionGUI::clear() {
  path_scene.clear();
  trans_vel_scene.clear();
  rot_vel_scene.clear();
  not_first_state = false; 
} // end of void QtMotionGUI::clear() --------------------------------