PoseTool2D.h

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/*
 * Copyright (C) 2014 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
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 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
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#ifndef _MIRA_POSETOOL2D_H_
#define _MIRA_POSETOOL2D_H_

#include <visualization/VisualizationTool2D.h>

#include <transform/Pose.h>

#include <QGraphicsPathItem>
#include <QGraphicsLineItem>
#include <QGraphicsEllipseItem>
#include <QGraphicsItemGroup>

namespace mira {


class PoseTool2D : public VisualizationTool2D
{
    enum SelectionMode {
        Position,
        PositionVariance,
        Orientation,
        OrientationVariance,
    };

public:
    PoseTool2D(float minPositionVariance = 0.1f, float minOrientationVariance = 0.25f);
    virtual ~PoseTool2D();

    template<typename Reflector> void reflect(Reflector& r) {
        MIRA_REFLECT_BASE(r, VisualizationTool2D);
    }

public:
    virtual void onMousePressed(QMouseEvent* e);
    virtual void onMouseReleased(QMouseEvent* e);
    virtual void onMouseMoved(QMouseEvent* e);

    virtual void activate();
    virtual void deactivate();

protected:
    virtual void init(IVisualizationSite* site);
    virtual QGraphicsItem* setupScene(QGraphicsScene* mgr);

protected:
    virtual void onNewPose(const PoseCov2& pose) {}

protected:
    void setPose(PoseCov2 pose);
    void setPhiVariance(const PoseCov2& pose);
    QPolygonF getPhiVariancePolygon(const QLineF& line, double var);

    QGraphicsItemGroup* mItem;
    QGraphicsLineItem* mLineXItem;
    QGraphicsLineItem* mLineYItem;
    QGraphicsEllipseItem* mCovXYItem;
    QGraphicsPolygonItem* mCovPhiXItem;
    QGraphicsPolygonItem* mCovPhiYItem;

    SelectionMode mSelectionMode;
    QPointF mLastPos;
    bool mIsValid;

    float mMinPositionVariance;
    float mMinOrientationVariance;

    PoseCov2 mPose;
};


}

#endif