MIRA
PoseTool2D.h
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38 
47 #ifndef _MIRA_POSETOOL2D_H_
48 #define _MIRA_POSETOOL2D_H_
49 
51 
52 #include <transform/Pose.h>
53 
54 #include <QGraphicsPathItem>
55 #include <QGraphicsLineItem>
56 #include <QGraphicsEllipseItem>
57 #include <QGraphicsItemGroup>
58 
59 namespace mira {
60 
62 
64 {
65  enum SelectionMode {
66  Position,
67  PositionVariance,
68  Orientation,
69  OrientationVariance,
70  };
71 
72 public:
73  PoseTool2D(float minPositionVariance = 0.1f, float minOrientationVariance = 0.25f);
74  virtual ~PoseTool2D();
75 
76  template<typename Reflector> void reflect(Reflector& r) {
78  }
79 
80 public:
81  virtual void onMousePressed(QMouseEvent* e);
82  virtual void onMouseReleased(QMouseEvent* e);
83  virtual void onMouseMoved(QMouseEvent* e);
84 
85  virtual void activate();
86  virtual void deactivate();
87 
88 protected:
89  virtual void init(IVisualizationSite* site);
90  virtual QGraphicsItem* setupScene(QGraphicsScene* mgr);
91 
92 protected:
101  virtual void onNewPose(const PoseCov2& pose) {}
102 
103 protected:
104  void setPose(PoseCov2 pose);
105  void setPhiVariance(const PoseCov2& pose);
106  QPolygonF getPhiVariancePolygon(const QLineF& line, double var);
107 
108  QGraphicsItemGroup* mItem;
109  QGraphicsLineItem* mLineXItem;
110  QGraphicsLineItem* mLineYItem;
111  QGraphicsEllipseItem* mCovXYItem;
112  QGraphicsPolygonItem* mCovPhiXItem;
113  QGraphicsPolygonItem* mCovPhiYItem;
114 
115  SelectionMode mSelectionMode;
116  QPointF mLastPos;
117  bool mIsValid;
118 
121 
123 };
124 
126 
127 }
128 
129 #endif
QGraphicsLineItem * mLineYItem
Definition: PoseTool2D.h:110
bool mIsValid
Definition: PoseTool2D.h:117
specialize cv::DataType for our ImgPixel and inherit from cv::DataType<Vec>
Definition: IOService.h:67
Definition: PoseTool2D.h:63
#define MIRA_REFLECT_BASE(reflector, BaseClass)
Macro that can be used to reflect the base class easily.
Definition: ReflectorInterface.h:912
PoseCov2 mPose
Definition: PoseTool2D.h:122
void reflect(Reflector &r)
Definition: PoseTool2D.h:76
virtual void onNewPose(const PoseCov2 &pose)
A new pose was selected by the use.
Definition: PoseTool2D.h:101
The primary interface between a Visualization and the container of the visualization (e...
Definition: Visualization.h:65
QGraphicsItemGroup * mItem
Definition: PoseTool2D.h:108
QGraphicsPolygonItem * mCovPhiXItem
Definition: PoseTool2D.h:112
QPointF mLastPos
Definition: PoseTool2D.h:116
Declaration of VisualizationTool2D.
QGraphicsEllipseItem * mCovXYItem
Definition: PoseTool2D.h:111
#define MIRA_GUI_VISUALIZATION_EXPORT
Definition: GuiVisualizationExports.h:61
QGraphicsLineItem * mLineXItem
Definition: PoseTool2D.h:109
float mMinOrientationVariance
Definition: PoseTool2D.h:120
SelectionMode mSelectionMode
Definition: PoseTool2D.h:115
Typedefs for different Pose datatypes that are internally RigidTransforms.
Definition: VisualizationTool2D.h:59
float mMinPositionVariance
Definition: PoseTool2D.h:119
QGraphicsPolygonItem * mCovPhiYItem
Definition: PoseTool2D.h:113