overview.hpp

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#ifndef QTCTRL_GUI_MOTION
#define QTCTRL_GUI_MOTION

#include <QTabWidget>
#include <QGraphicsScene>
#include <list> 
#include <model/state.hpp>

class QtMotionGUI : public QObject {
  Q_OBJECT  // This macro is needed to handle graphical events

  QTabWidget motion_window;  
  QGraphicsScene  path_scene;     
  QGraphicsScene  trans_vel_scene; 
  QGraphicsScene  rot_vel_scene;
  
  bool not_first_state;    
  State last_state;        

public:
  QtMotionGUI();

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

  void addState(const State& state,
                const Qt::GlobalColor motion_color = Qt::blue);

public Q_SLOTS:
  void showHide()
  { motion_window.setVisible( !motion_window.isVisible() ); } 

  void clear();
  
}; // end of class QtMotionGUI

#endif // QTCTRL_GUI_MOTION