viewCtrl.hpp

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#ifndef QTCTRL_GUI_CTRL_VIEW
#define QTCTRL_GUI_CTRL_VIEW

#include <gui/ctrlWdgt.hpp>

class ViewCtrlWdgt : private QWidget, public ControlWidget {
  Q_OBJECT  // This macro is needed to handle graphical events

protected:
  QPointF velocities;        
  QPointF commands;          

  QPoint plot(const QPointF& velocities) const;
    
  QRect  region(const QPointF& vel) const {
    static const int offset = 2;  // +/- 2 px, diameter = 5 px
    const QPoint intVel = plot(vel);
    return QRect(intVel, intVel).adjusted(-offset, -offset,
                                          offset,   offset);
  }
    
  void modify(QPointF& variable, const QPointF& value) {
    // region modified in the drawing (union of two regions)
    const QRect  change  = region(variable) | region(value);
    variable = value;    // update the variable
    update(change);      // update the drawing
  }

protected Q_SLOTS:
  void paintEvent(QPaintEvent *event);

public:
  ViewCtrlWdgt(QWidget& parent, Controller& control,
               const MotionModel& motion_model);

  ~ViewCtrlWdgt() {}
  
  QWidget& widget() { return *this; }
  
  // Cf ControlWidget::updateState(const State&)
  void updateState(const State& state)
  { modify( velocities, QPointF( state.translationVelocity(),
                                 state.rotationVelocity() ) ); }

  // Cf ControlWidget::updateCommands(const double&, const double&)
  void updateCommands(const double& trans_vel, const double& rot_vel)
  { modify( commands, QPointF(trans_vel, rot_vel) ); }

}; // end of class ViewCtrlWdgt

#endif // QTCTRL_CTRL_VIEW