void ReadRobotMessages::initializeFixedLandmarks()
{
addLandmark(0, 6.0, 4.5);
addLandmark(1, 6.0, -4.5);
addLandmark(2, 0.0, -4.5);
addLandmark(3, 0.0, 4.5);
addLandmark(4, 0.0, -1.5);
addLandmark(5, 0.0, 1.5);
addLandmark(6, 3.0, -4.5);
addLandmark(7, 3.0, 4.5);
addLandmark(8, 3.75, -2.25);
addLandmark(9, 3.75, 2.25);
}
int TriangulationSidebar::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QWidget::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: drawLine((*reinterpret_cast< QPointF(*)>(_a[1])),(*reinterpret_cast< QPointF(*)>(_a[2]))); break;
case 1: intersectLines(); break;
case 2: selectPoint((*reinterpret_cast< QPointF(*)>(_a[1])),(*reinterpret_cast< bool(*)>(_a[2]))); break;
case 3: clearSelectedPoints(); break;
case 4: selectLines((*reinterpret_cast< QList<QPair<QPointF,QPointF> >(*)>(_a[1]))); break;
case 5: clearSelectedLines(); break;
case 6: deletePoints(); break;
case 7: deleteLines(); break;
case 8: addPoint((*reinterpret_cast< QPointF(*)>(_a[1]))); break;
case 9: addLine((*reinterpret_cast< QPointF(*)>(_a[1])),(*reinterpret_cast< QPointF(*)>(_a[2]))); break;
case 10: addLandmark((*reinterpret_cast< QPointF(*)>(_a[1]))); break;
case 11: on_landmarksListWidget_itemSelectionChanged(); break;
case 12: on_deleteLines_clicked(); break;
case 13: on_deletePoints_clicked(); break;
case 14: on_intersectLinesButton_clicked(); break;
case 15: on_linesListWidget_itemSelectionChanged(); break;
case 16: on_drawLinesButton_clicked(); break;
case 17: on_pointsListWidget_itemSelectionChanged(); break;
case 18: recalculateDistanceAltitiude(); break;
case 19: newBarometerData((*reinterpret_cast< ushort(*)>(_a[1])),(*reinterpret_cast< ulong(*)>(_a[2]))); break;
case 20: newAccelerometerData((*reinterpret_cast< short(*)>(_a[1])),(*reinterpret_cast< short(*)>(_a[2])),(*reinterpret_cast< short(*)>(_a[3]))); break;
case 21: newRobotElevation((*reinterpret_cast< double(*)>(_a[1])),(*reinterpret_cast< double(*)>(_a[2]))); break;
default: ;
}
_id -= 22;
}
return _id;
}
/* -------------------------------------------------------------------- */
void
setLandmarks(const std::string lm_str)
{
std::string rest = lm_str;
std::string current;
while (rest.size() > 0)
{
size_t pos = rest.find(',');
current = rest.substr(0, pos);
if (pos == std::string::npos)
rest.clear();
else
rest = rest.substr(pos+1);
addLandmark(current.c_str());
}
} /* END SETLANDMARKS */
NavigationWidget::NavigationWidget(QWidget *parent) :
QWidget(parent)
{
setupUi(this);
//navView = new NavigationView(this);
//verticalLayout->insertWidget(0, navView);
connect(navView, SIGNAL(mouseAtGeoPos(QPointF)), this, SLOT(displayCoordinates(QPointF)));
triangulationWidget = new TriangulationWidget();
connect(triangulationButton, SIGNAL(clicked()), triangulationWidget, SLOT(show()));
connect(connectLineButton, SIGNAL(clicked()), navView, SLOT(plotLineForSelected()));
connect(markIsectButton, SIGNAL(clicked()), navView, SLOT(plotLineIntersection()));
connect(requestGPSButton, SIGNAL(clicked()), this, SLOT(sendGPSRequest()));
connect(RobotController::gpsController(), SIGNAL(gotPositionUpdate(GPSPositionData)), this, SLOT(gotGPSUpdate(GPSPositionData)));
connect(navView, SIGNAL(newPointAdded(QPointF)), triangulationSidebar, SLOT(addPoint(QPointF)));
connect(navView, SIGNAL(newLineAdded(QPointF,QPointF)), triangulationSidebar, SLOT(addLine(QPointF,QPointF)));
connect(navView, SIGNAL(newLandmarkAdded(QPointF)), triangulationSidebar, SLOT(addLandmark(QPointF)));
connect(triangulationSidebar, SIGNAL(selectPoint(QPointF, bool)), navView, SLOT(selectPoint(QPointF, bool)));
connect(triangulationSidebar, SIGNAL(clearSelectedPoints()), navView, SLOT(clearSelectedPoints()));
connect(triangulationSidebar, SIGNAL(drawLine(QPointF,QPointF)), navView, SLOT(plotLineForPoints(QPointF,QPointF)));
connect(triangulationSidebar, SIGNAL(selectLines(QList<QPair<QPointF,QPointF> >)), navView, SLOT(selectLines(QList<QPair<QPointF,QPointF> >)));
connect(triangulationSidebar, SIGNAL(clearSelectedLines()), navView, SLOT(clearSelectedLines()));
connect(triangulationSidebar, SIGNAL(intersectLines()), navView, SLOT(plotLineIntersection()));
connect(triangulationSidebar, SIGNAL(deleteLines()), navView, SLOT(deleteSelectedLines()));
connect(triangulationSidebar, SIGNAL(deletePoints()), navView, SLOT(deleteSelectedPoints()));
// Test rover slots
/*navView->setRoverPosition(QPointF(-110.791497, 38.406392));
navView->setRoverPosition(QPointF(-110.790889, 38.406158));
navView->setRoverPosition(QPointF(-110.790469, 38.405850));
navView->setRoverPosition(QPointF(-110.790257, 38.405575));
navView->setRoverPosition(QPointF(-110.790161, 38.405359));
navView->setRoverPosition(QPointF(-110.790177, 38.405195));
navView->setRoverPosition(QPointF(-110.790037, 38.404941));
navView->setRoverPosition(QPointF(-110.789840, 38.404890));
navView->setRoverPosition(QPointF(-110.789420, 38.404986));
navView->setRoverPosition(QPointF(-110.789219, 38.404973));
navView->setRoverHeading(92.334915);*/
//navView->setRoverPosition(QPointF(-123.212968,44.674917)); // adair
//navView->setRoverPosition(QPointF(-123.274951,44.567328)); // covell parking lot
}
void ParticleFilterLocalizer::addLandmark(std::string name, float x, float y) {
addLandmark(new Landmark(name, x, y));
}
