Revision 5847a728
Planning for current week
| buggysim/src/sim_frame.cpp | ||
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| 45 | 45 |
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TurtleFrame::TurtleFrame(QWidget* parent, Qt::WindowFlags f) |
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: QFrame(parent, f) |
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// TODO: reintegrate these into the initialization list |
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//, map_image_(700, 500, QImage::Format_ARGB32) |
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//, path_painter_(&map_image_) |
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, frame_count_(0) |
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, id_counter_(0) |
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{
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// TODO: figure out why 500,500 path_image is being sent in.
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// Same as image size
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setFixedSize(700, 500); |
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setWindowTitle("BuggySim Frame!");
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srand(time(NULL)); |
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// QT updater
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// QT window updater/timer
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update_timer_ = new QTimer(this); |
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update_timer_->setInterval(16); |
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update_timer_->start(); |
| ... | ... | |
| 80 | 77 |
toBeRemovedMapName + "_walls.bmp").c_str(); |
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wall_image_.load(wall_path_); |
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/* BEGIN: Reinitialization */ |
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//base_bitmap.load(map_base_path); |
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//map_image_.load(map_path_); |
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map_image_ = new QImage(700, 500, QImage::Format_ARGB32); |
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//QPainter tempqp = QPainter(); |
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//QPainter tempsq = QPainter tempsq(&map_image_); |
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// =(QPaitner&) is private |
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//path_painter_ = new QPainter(map_image_); |
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//path_painter_ = new QPainter(); |
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//path_painter_.begin(&map_image_); |
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//wall_image_.load(wall_path_); |
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/* END: Reinitialization */ |
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// TODO: paint waypoints |
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// TODO: load all turtles in directory |
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/* Choose turtles */ |
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// TODO: make it automatically pick up turtles? |
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// TODO: load turtles automatically/change to buggy images |
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/* Load turtle images */ |
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// Note: buggies must be added here to be chosen. |
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// TODO: associate buggy with specific model. |
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QVector<QString> turtles; |
| ... | ... | |
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//turtles.append("groovy.png");
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//turtles.append("hydro.svg");
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// Load turtles |
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QString images_path = (ros::package::getPath("buggysim") + "/images/").c_str();
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for (size_t i = 0; i < turtles.size(); ++i) {
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QImage img; |
| ... | ... | |
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turtle_images_.append(img); |
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} |
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|
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// TODO: redefine meter to pixel. or GPS coordinate, actually. |
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// add sophistication to the maploading code. |
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// 10 pixels to the meter. |
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// TODO: move this up. |
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// TODO: load meter/pixel ratio from parameter server |
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meter_ = turtle_images_[0].height(); |
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|
| ... | ... | |
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height_in_meters_ = (height() - 1) / meter_; |
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// Spawn turtle in a specific location. |
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//spawnTurtle("", width_in_meters_ / 2.0, height_in_meters_ / 2.0, 0);
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spawnTurtle("", width_in_meters_ / 2.0, height_in_meters_ / 2.0, 0);
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ROS_INFO("Past constructor!\n");
|
| ... | ... | |
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TurtleFrame::~TurtleFrame() |
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{
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delete update_timer_; |
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//delete path_painter_; |
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} |
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bool TurtleFrame::spawnCallback(buggysim::Spawn::Request& req, |
| ... | ... | |
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return turtles_.find(name) != turtles_.end(); |
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} |
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std::string TurtleFrame::spawnTurtle(const std::string& name, float x, float y, |
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std::string TurtleFrame::spawnTurtle(const std::string& name, |
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float x, |
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float y, |
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float angle) |
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{
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std::string real_name = name; |
| ... | ... | |
| 233 | 207 |
nh_.param("background_g", g, g);
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nh_.param("background_b", b, b);
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// TODO: reload the map image |
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//path_image_.fill(qRgb(r, g, b)); |
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//map_image_.fill(qRgb(r, g, b)); |
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map_image_->load(map_path_); |
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update(); |
| ... | ... | |
| 314 | 287 |
int a = 1/0; |
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return true; |
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} |
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} |
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