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GraphView: added orientation visualization on nodes

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matlabbe
2018-08-16 11:21:25 -04:00
parent b8847fd006
commit e0858a9c2a
1 changed files with 21 additions and 4 deletions
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25
guilib/src/GraphViewer.cpp
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@@ -64,11 +64,16 @@ public:
QGraphicsEllipseItem(QRectF(-radius*100.0f,-radius*100.0f,radius*100.0f*2.0f,radius*100.0f*2.0f)),
_id(id),
_mapId(mapId),
_pose(pose)
_pose(pose),
_line(0)
{
this->setPos(-pose.y()*100.0f,-pose.x()*100.0f);
this->setBrush(pen().color());
this->setAcceptHoverEvents(true);
float r,p,yaw;
pose.getEulerAngles(r, p, yaw);
radius*=100.0f;
_line = new QGraphicsLineItem(0,0,-radius*sin(yaw),-radius*cos(yaw), this);
}
virtual ~NodeItem() {}
@@ -80,6 +85,17 @@ public:
QBrush b = this->brush();
b.setColor(color);
this->setBrush(b);
_line->setPen(QPen(QColor(255-color.red(), 255-color.green(), 255-color.blue())));
}
void setRadius(float radius)
{
float r,p,yaw;
_pose.getEulerAngles(r, p, yaw);
radius*=100.0f;
this->setRect(-radius, -radius, radius*2.0f, radius*2.0f);
_line->setLine(0,0,-radius*sin(yaw),-radius*cos(yaw));
}
int id() const {return _id;};
@@ -105,6 +121,7 @@ private:
int _id;
int _mapId;
Transform _pose;
QGraphicsLineItem * _line;
};
class NodeGPSItem: public NodeItem
@@ -1170,15 +1187,15 @@ void GraphViewer::setNodeRadius(float radius)
_nodeRadius = radius;
for(QMap<int, NodeItem*>::iterator iter=_nodeItems.begin(); iter!=_nodeItems.end(); ++iter)
{
iter.value()->setRect(-_nodeRadius*100.0f, -_nodeRadius*100.0f, _nodeRadius*100.0f*2.0f, _nodeRadius*100.0f*2.0f);
iter.value()->setRadius(_nodeRadius);
}
for(QMap<int, NodeItem*>::iterator iter=_gtNodeItems.begin(); iter!=_gtNodeItems.end(); ++iter)
{
iter.value()->setRect(-_nodeRadius*100.0f, -_nodeRadius*100.0f, _nodeRadius*100.0f*2.0f, _nodeRadius*100.0f*2.0f);
iter.value()->setRadius(_nodeRadius);
}
for(QMap<int, NodeItem*>::iterator iter=_gpsNodeItems.begin(); iter!=_gpsNodeItems.end(); ++iter)
{
iter.value()->setRect(-_nodeRadius*100.0f, -_nodeRadius*100.0f, _nodeRadius*100.0f*2.0f, _nodeRadius*100.0f*2.0f);
iter.value()->setRadius(_nodeRadius);
}
}
void GraphViewer::setLinkWidth(float width)