void Gui::createLaserScannerObjects()
{
// the start position for the pos. calculation
laserXPos = 0;
laserYPos = 0;
//laserFrontYPos = INITIALLASERYPOSFRONT;
//laserRearYPos = INITIALLASERYPOSREAR;
// set some nice colors for some widgets
colorLaserObstacle = QColor(255, 50, 50); // light red
colorLaserFreeWay = Qt::darkRed;
colorLaserPreferredDrivingDirection = QColor(7, 68, 30); // green
colorLaserCenterDrivingDirection = Qt::green;
colorGraphicsSceneBackground = Qt::black;
// the graphicsScene for the laser scanner
scene = new LaserScene();
// set some colors
scene->setBackgroundBrush(colorGraphicsSceneBackground);
// turn off moving of scene, when objects extend the scene -> DISABLED to enable dragging the robot in the laserView!!
// (set scene rect to size of GUI element) -> DISABLED to enable dragging the robot in the laserView!!
//scene->setSceneRect(0, 0, ui.graphicsViewLaser->width(), ui.graphicsViewLaser->height()); -> DISABLED to enable dragging the robot in the laserView!!
// set scene to the GUI
ui.graphicsViewLaser->setScene(scene);
// enable OpenGL rendering with antialiasing (and direct hardware rendering (if supportet from the hardware))
ui.graphicsViewLaser->setViewport(new QGLWidget(QGLFormat(QGL::DoubleBuffer | QGL::DirectRendering)));
//=======================================================
// add robot picture1
//=======================================================
// add items to the scene
pixmapBot1 = new QGraphicsPixmapItem(QPixmap(":/images/images/bot_from_above.png"));
// init the scale for the laser line / distances drawing stuff
lastZoom = ui.sliderZoom->value();
//--------------------------------------------------------------
// set the start scale
//--------------------------------------------------------------
startScale = 10;
// change scale of the robot pic to 1/10 to fit in the window and to fit on the size of the laser lines
pixmapBot1->scale( (1.0 / startScale), (1.0 / startScale));
// horizontal center
pixmapBot1->setPos(laserXPos, laserYPos);
// add the pixmap
scene->addItem(pixmapBot1);
// put one layer up (layer 2). All others share the same (unset) layer under the pixmap.
pixmapBot1->setZValue(1);
//=====================================================
// create the laser line lists
//=====================================================
laserLineListFront = new QList <QGraphicsLineItem*>();
laserLineListRear = new QList <QGraphicsLineItem*>();
//-------------------------------------
// create the FRONT laser line list
//-------------------------------------
// TODO: check if always 180 lines!
// create 180 laser lines (0 to 179)
for (int i=-90; i<90; i++)
{
QGraphicsLineItem *line = new QGraphicsLineItem();
// the length (and position) of the laser line in pixel
line->setLine(0,0,0,0);
// FIXME doest not work: line->setPen(QPen(colorLaserFreeWay, 3));
line->setPen(QPen(colorLaserFreeWay));
// set position of each line
line->rotate(i);
// put one layer up (layer 2). All others share the same (unset) layer under the pixmap.
line->setZValue(2);
// add line to QList
laserLineListFront->append(line);
// add line to scene
scene->addItem(line);
}
//-------------------------------------
// create the REAR laser line list
//-------------------------------------
// TODO: check if always 180 lines!
// create 180 laser lines (0 to 179)
for (int i=90; i>-90; i--)
{
QGraphicsLineItem *line = new QGraphicsLineItem();
// FIXME doest not work: line->setPen(QPen(colorLaserFreeWay, 3));
line->setPen(QPen(colorLaserFreeWay));
// the length (and position) of the laser line in pixel
line->setLine(0,0,0,0);
// set position of each line
line->rotate(i);
// put one layer up (layer 2). All others share the same (unset) layer under the pixmap.
line->setZValue(2);
// add line to QList
laserLineListRear->append(line);
// add line to scene
scene->addItem(line);
}
//=======================================================
// add robot picture2
//=======================================================
// add items to the scene
pixmapBot2 = new QGraphicsPixmapItem(QPixmap(":/images/images/bot_from_above_TOP2.png"));
// change scale of the robot pic to 1/10 to fit in the window and to fit on the size of the laser lines
pixmapBot2->scale( (1.0 / startScale), (1.0 / startScale));
// horizontal center
pixmapBot2->setPos(laserXPos, laserYPos);
// add the pixmap
scene->addItem(pixmapBot2);
// put one layer up (layer 2). All others share the same (unset) layer under the pixmap.
pixmapBot2->setZValue(3);
}
