robobuggy / buggyvis / src / buggy.cpp @ f75a88be
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1 | f75a88be | tahm | /*
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2 | * Copyright (c) 2009, Willow Garage, Inc.
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3 | * All rights reserved.
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4 | *
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5 | * Redistribution and use in source and binary forms, with or without
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6 | * modification, are permitted provided that the following conditions are met:
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7 | *
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8 | * * Redistributions of source code must retain the above copyright
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9 | * notice, this list of conditions and the following disclaimer.
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10 | * * Redistributions in binary form must reproduce the above copyright
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11 | * notice, this list of conditions and the following disclaimer in the
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12 | * documentation and/or other materials provided with the distribution.
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13 | * * Neither the name of the Willow Garage, Inc. nor the names of its
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14 | * contributors may be used to endorse or promote products derived from
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15 | * this software without specific prior written permission.
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16 | *
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17 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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18 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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19 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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20 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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21 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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22 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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23 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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24 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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25 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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26 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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27 | * POSSIBILITY OF SUCH DAMAGE.
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28 | */
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29 | |||
30 | #include "buggyvis/buggy.h" |
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31 | |||
32 | #include <QColor> |
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33 | #include <QRgb> |
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34 | |||
35 | #define DEFAULT_PEN_R 0xb3 |
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36 | #define DEFAULT_PEN_G 0xb8 |
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37 | #define DEFAULT_PEN_B 0xff |
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38 | |||
39 | namespace buggysim
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40 | { |
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41 | |||
42 | Turtle::Turtle(const ros::NodeHandle& nh,
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43 | const QImage& wall_image,
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44 | const QImage& turtle_image,
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45 | const QPointF& pos,
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46 | float orient)
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47 | : nh_(nh) |
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48 | , turtle_image_(turtle_image) |
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49 | , wall_image_(wall_image) |
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50 | , pos_(pos) |
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51 | , orient_(orient) |
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52 | //, lin_vel_(2.0)
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53 | //, ang_vel_(0.0)
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54 | //, turnAngle_(0.0)
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55 | , pen_on_(true)
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56 | , pen_(QColor(DEFAULT_PEN_R, DEFAULT_PEN_G, DEFAULT_PEN_B)) |
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57 | { |
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58 | pen_.setWidth(3);
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59 | |||
60 | pose_sub_ = nh_.subscribe |
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61 | ("pose", 1, &Turtle::poseCallback, this); |
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62 | |||
63 | //Services
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64 | set_pen_srv_ = nh_.advertiseService |
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65 | ("set_pen", &Turtle::setPenCallback, this); |
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66 | teleport_relative_srv_ = nh_.advertiseService |
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67 | ("teleport_relative", &Turtle::teleportRelativeCallback, this); |
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68 | teleport_absolute_srv_ = nh_.advertiseService |
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69 | ("teleport_absolute", &Turtle::teleportAbsoluteCallback, this); |
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70 | |||
71 | meter_ = turtle_image_.height(); |
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72 | rotateImage(); |
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73 | } |
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74 | |||
75 | void Turtle::poseCallback(const buggymsgs::PoseConstPtr& pcp) |
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76 | { |
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77 | last_command_time_ = ros::WallTime::now(); |
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78 | pose_ = pcp->pose; |
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79 | } |
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80 | |||
81 | bool Turtle::setPenCallback(buggysim::SetPen::Request& req,
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82 | buggysim::SetPen::Response&) |
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83 | { |
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84 | pen_on_ = !req.off; |
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85 | if (req.off)
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86 | { |
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87 | return true; |
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88 | } |
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89 | |||
90 | QPen pen(QColor(req.r, req.g, req.b)); |
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91 | if (req.width != 0) |
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92 | { |
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93 | pen.setWidth(req.width); |
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94 | } |
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95 | |||
96 | pen_ = pen; |
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97 | return true; |
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98 | } |
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99 | |||
100 | void Turtle::rotateImage()
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101 | { |
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102 | QTransform transform; |
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103 | transform.rotate(-orient_ * 180.0 / PI + 90.0); |
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104 | turtle_rotated_image_ = turtle_image_.transformed(transform); |
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105 | } |
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106 | |||
107 | /**
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108 | * TODO: convert this to take just an angle. And include drag.
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109 | * and include acceleration/joule dump
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110 | */
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111 | bool Turtle::update(double dt, |
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112 | QPainter& path_painter, |
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113 | const QImage& path_image,
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114 | qreal canvas_width, |
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115 | qreal canvas_height) |
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116 | { |
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117 | bool modified = false; |
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118 | qreal old_orient = orient_; |
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119 | |||
120 | // first process any teleportation requests, in order
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121 | V_TeleportRequest::iterator it = teleport_requests_.begin(); |
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122 | V_TeleportRequest::iterator end = teleport_requests_.end(); |
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123 | for (; it != end; ++it)
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124 | { |
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125 | const TeleportRequest& req = *it;
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126 | |||
127 | QPointF old_pos = pos_; |
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128 | if (req.relative)
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129 | { |
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130 | orient_ += req.theta; |
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131 | pos_.rx() += std::sin(orient_ + PI/2.0) * req.linear; |
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132 | pos_.ry() += std::cos(orient_ + PI/2.0) * req.linear; |
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133 | } |
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134 | else
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135 | { |
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136 | pos_.setX(req.pos.x()); |
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137 | pos_.setY(std::max(0.0, static_cast<double>(canvas_height - req.pos.y()))); |
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138 | orient_ = req.theta; |
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139 | } |
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140 | |||
141 | path_painter.setPen(pen_); |
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142 | path_painter.drawLine(pos_ * meter_, old_pos * meter_); |
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143 | modified = true;
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144 | } |
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145 | |||
146 | teleport_requests_.clear(); |
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147 | |||
148 | // Stop moving after 1 second since-last command.
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149 | |||
150 | // Update my position
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151 | QPointF old_pos = pos_; |
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152 | |||
153 | // TODO: what direction does orientation start at 0?
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154 | // TODO: orient might have to become negative
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155 | orient_ = std::fmod(orient_ - (turnAngle_ * dt), 2*PI);
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156 | if (orient_ < 0.0) { |
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157 | orient_ += 2*PI;
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158 | } |
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159 | // TODO: why add pi/2? is this just because they got the
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160 | // sin/cos mixed up?
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161 | pos_.rx() += std::cos(orient_) * lin_vel_ * dt; |
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162 | pos_.ry() -= std::sin(orient_) * lin_vel_ * dt; |
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163 | |||
164 | // Clamp to screen size
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165 | // TODO: change to use another image, to detect walls.
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166 | if (pos_.x() < 0 || pos_.x() > canvas_width || |
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167 | pos_.y() < 0 || pos_.y() > canvas_height)
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168 | { |
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169 | ROS_WARN("Oh no! I hit the wall! (Clamping from [x=%f, y=%f])", pos_.x(), pos_.y());
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170 | } |
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171 | |||
172 | pos_.setX(std::min(std::max(static_cast<double>(pos_.x()), 0.0), |
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173 | static_cast<double>(canvas_width))); |
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174 | pos_.setY(std::min(std::max(static_cast<double>(pos_.y()), 0.0), |
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175 | static_cast<double>(canvas_height))); |
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176 | |||
177 | /** END POSITION UPDATE */
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178 | buggymsgs::Pose p; |
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179 | p.x = pos_.x(); |
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180 | p.y = canvas_height - pos_.y(); |
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181 | p.angle = orient_; |
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182 | p.linear_velocity = lin_vel_; |
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183 | pose_pub_.publish(p); |
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184 | |||
185 | ROS_DEBUG("[%s]: pos_x: %f pos_y: %f theta: %f",
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186 | nh_.getNamespace().c_str(), |
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187 | pos_.x(), pos_.y(), orient_); |
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188 | |||
189 | if (orient_ != old_orient)
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190 | { |
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191 | rotateImage(); |
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192 | modified = true;
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193 | } |
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194 | |||
195 | if (pos_ != old_pos)
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196 | { |
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197 | if (pen_on_)
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198 | { |
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199 | path_painter.setPen(pen_); |
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200 | path_painter.drawLine(pos_ * meter_, old_pos * meter_); |
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201 | } |
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202 | modified = true;
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203 | } |
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204 | |||
205 | return modified;
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206 | } |
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207 | |||
208 | void Turtle::paint(QPainter& painter)
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209 | { |
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210 | QPointF p = pos_ * meter_; |
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211 | p.rx() -= 0.5 * turtle_rotated_image_.width(); |
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212 | p.ry() -= 0.5 * turtle_rotated_image_.height(); |
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213 | painter.drawImage(p, turtle_rotated_image_); |
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214 | } |
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215 | |||
216 | } |