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Revision 1efba872

ID1efba87256067aea69aae087664fa6fe90ab90d8
Parent f0c4b45e
Child 907874ca

Added by Tahm over 10 years ago

Added instructions for GUI, properly subclassed next-step-simulation, Broke: line.

View differences:

buggysim/src/sim_frame.cpp
28 28 
 */
29 29 

  		




  30
  30
  
    
#include "buggysim/sim_frame.h"


  		




  
  31
  
    
#include "adelaide.cpp"


  		




  31
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  32
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#include <QPointF>


  		




  33
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  ......




  64
  65
  
    
      nh_.setParam("background_g", DEFAULT_BG_G);


  		




  65
  66
  
    
      nh_.setParam("background_b", DEFAULT_BG_B);


  		




  66
  67
  
    

  		




  
  68
  
    
      // TODO: make it automatically pick up turtles?


  		




  
  69
  
    
      // Note: buggies must be added here to be chosen.


  		




  
  70
  
    
      // TODO: associate buggy with specific model.


  		




  67
  71
  
    
      QVector<QString> turtles;


  		




  68
  
  
    
      turtles.append("box-turtle.png");


  		




  69
  72
  
    
      turtles.append("robot-turtle.png");


  		




  70
  
  
    
      turtles.append("sea-turtle.png");


  		




  71
  
  
    
      turtles.append("diamondback.png");


  		




  72
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      turtles.append("electric.png");


  		




  73
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      turtles.append("fuerte.png");


  		




  74
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      turtles.append("groovy.png");


  		




  75
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      turtles.append("hydro.svg");


  		




  76
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  77
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      QString images_path = (ros::package::getPath("buggysim") + "/images/").c_str();


  		




  
  79
  
    

  		




  78
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      for (size_t i = 0; i < turtles.size(); ++i) {


  		




  79
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         QImage img;


  		




  80
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         img.load(images_path + turtles[i]);


  		




  81
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         turtle_images_.append(img);


  		




  82
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      }


  		




  83
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  86
  
    

  		




  84
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      meter_ = turtle_images_[0].height();


  		




  85
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  86
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      clear();


  		




  ......




  154
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         }


  		




  155
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      }


  		




  156
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  157
  
  
    
      TurtlePtr t(new Buggy(ros::NodeHandle(real_name),


  		




  158
  
  
    
                             turtle_images_[rand() % turtle_images_.size()], QPointF(x, y), angle));


  		




  
  160
  
    
      //ROS_INFO("Name: %s", name.data());


  		




  
  161
  
    
      //ROS_INFO("Realname: %s", real_name.data());


  		




  
  162
  
    
      // Load the correct implementation of turtle


  		




  
  163
  
    
      TurtlePtr t(new Adelaide(ros::NodeHandle(real_name),


  		




  
  164
  
    
                             turtle_images_[rand() % turtle_images_.size()],


  		




  
  165
  
    
                             QPointF(x, y),


  		




  
  166
  
    
                             angle));


  		




  
  167
  
    

  		




  159
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      turtles_[real_name] = t;


  		




  160
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      update();


  		




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