void evitementObstacle(InfoMvt *infoMvt) {
if (getDistance(!(infoMvt->sensMvt)) > DISTANCE_PROXIMITE) { // On peut manœvrer
// On recule, on se tourne de 90° et on avance
// Angle currentAlpha = getAlphaAbs();
sendDelta(-DISTANCE_EVITEMENT);
sendAlpha(90);
if (getDistance(infoMvt->sensMvt) > DISTANCE_PROXIMITE) {
sendDelta(+DISTANCE_EVITEMENT);
} else {
// On est un peu coinsé !
}
} else {
// On tourne sur place
sendAlpha(45);
if (getDistance(infoMvt->sensMvt) > DISTANCE_PROXIMITE) {
pause_ms(1000);
}
}
}
void IsoSurfaceDialog::extractAlpha(QColor color)
{
emit sendAlpha(color.alpha());
}
/*!
* \brief MainWindow::MainWindow
* \param parent
*/
MainWindow::MainWindow(QWidget *parent)
: QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
ui->stopButton->hide();
ui->qwtPlot->setTitle("Error");
ui->qwtPlot->setAxisTitle(ui->qwtPlot->xBottom, "Epoch");
ui->qwtPlot->setAxisTitle(ui->qwtPlot->yLeft,"Error");
ui->qwtPlot->setAxisAutoScale( ui->qwtPlot->xBottom, true );
ui->qwtPlot->setAxisAutoScale( ui->qwtPlot->yLeft, true );
ui->stopButton->setVisible( false );
ui->saveButton->setVisible( false );
zoom = new QwtPlotZoomer(ui->qwtPlot->canvas());
zoom->setRubberBandPen(QPen(Qt::white));
QPen pen = QPen( Qt::red );
curve.setRenderHint( QwtPlotItem::RenderAntialiased );
curve.setPen( pen );
curve.attach( ui->qwtPlot );
sendAlpha();
// INFO connect ui to mainwindow
{
QObject::connect( ui->saveImageButton, SIGNAL( clicked() ),
this, SLOT( saveImage() ) );
QObject::connect( ui->inputOpenButton, SIGNAL( clicked() ),
this, SLOT( openInputFile() ) );
QObject::connect( ui->saveButton, SIGNAL( clicked() ),
this, SLOT( openOutputFile() ) );
QObject::connect( ui->startButton, SIGNAL( clicked() ),
this, SLOT( start() ) );
QObject::connect( ui->startButton, SIGNAL( clicked( bool ) ),
ui->stopButton, SLOT( setVisible(bool) ) );
QObject::connect( ui->alphaMantiss, SIGNAL( valueChanged( double ) ),
this, SLOT( sendAlpha() ) );
QObject::connect( ui->alphaDegree, SIGNAL( valueChanged( int ) ),
this, SLOT( sendAlpha() ) );
}
// INFO connectio ui to ui
{
QObject::connect(ui->startButton,SIGNAL(clicked()),ui->stopButton,SLOT(show()));
}
// /* INFO connection ui to facade
{
QObject::connect( ui->stopButton, SIGNAL( clicked() ),
&Facade::getInstance(), SLOT( stopProcess() ) );
QObject::connect( ui->maxEpoch, SIGNAL( valueChanged(int) ),
&Facade::getInstance(), SLOT( setMaxNumberOfEpoh(int) ) );
QObject::connect( ui->numberOfNeurons, SIGNAL( valueChanged(int) ),
&Facade::getInstance(), SLOT( setNumberOfNeurons(int) ) );
}
// */
// /* INFO connection facade to ui
{
QObject::connect( &Facade::getInstance(), SIGNAL( processEnd() ),
ui->startButton, SLOT( show() ) );
QObject::connect( &Facade::getInstance(), SIGNAL( processEnd() ),
ui->saveButton, SLOT( show() ) );
QObject::connect( &Facade::getInstance(), SIGNAL( processEnd() ),
ui->stopButton, SLOT( hide() ) );
}
// */
// /* INFO connection facade to main window
{
// QObject::connect( &Facade::getInstance(), SIGNAL( sendInitialLayerInfo(LayerDescription)),
// this, SLOT( setInitialLayerInfo( LayerDescription ) ) );
QObject::connect( &Facade::getInstance(), SIGNAL( processEnd() ),
this, SLOT( displayResults() ) );
}
// */
// /* INFO connection main window to facade
{
QObject::connect( this, SIGNAL( setInputFileName(QString) ),
&Facade::getInstance(), SLOT( setInputFileName(QString) ) );
QObject::connect( this, SIGNAL( setOutputFileName(QString) ),
&Facade::getInstance(), SLOT( setOutputFileName(QString) ) );
QObject::connect( this, SIGNAL( setAlpha( double ) ),
&Facade::getInstance(), SLOT( setAlhpa( double ) ) );
}
// */
}
