[324] | 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2014/07/22
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| 6 | // filename: LaserRangeFinder.cpp
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| 7 | //
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| 8 | // author: César RICHARD
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Classe generique des recepteurs LaserRangeFinder
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "LaserRangeFinder.h"
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| 19 | #include <Matrix.h>
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| 20 | #include <Tab.h>
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| 21 | #include <TabWidget.h>
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| 22 | #include <GridLayout.h>
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| 23 | #include <GroupBox.h>
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| 24 | #include <PushButton.h>
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| 25 | #include <FrameworkManager.h>
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| 26 | #include <Label.h>
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| 27 | #include <RangeFinderPlot.h>
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| 28 | #include <string.h>
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| 29 |
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| 30 | using std::string;
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| 31 | using namespace flair::core;
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| 32 | using namespace flair::gui;
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| 33 |
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| 34 | namespace flair {
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| 35 | namespace sensor {
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| 36 |
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| 37 | LaserRangeFinder::LaserRangeFinder(string name)
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| 38 | : IODevice(getFrameworkManager(), name) {
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| 39 | MatrixDescriptor *desc = new MatrixDescriptor(360, 1);
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| 40 | output = new Matrix(this, desc, floatType);
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| 41 | delete desc;
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| 42 | AddDataToLog(output);
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| 43 | Warn("output matrix is created in LaserRangeFinder and utm30lx\n");
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| 44 | // station sol
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| 45 | main_tab = new Tab(getFrameworkManager()->GetTabWidget(), name);
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| 46 | tab = new TabWidget(main_tab->NewRow(), name);
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| 47 | sensor_tab = new Tab(tab, "Reglages");
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| 48 | setup_groupbox = new GroupBox(sensor_tab->NewRow(), name);
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| 49 | }
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| 50 |
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| 51 | LaserRangeFinder::LaserRangeFinder(const IODevice *parent, std::string name)
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| 52 | : IODevice(parent, name) {
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| 53 | plot_tab = NULL;
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| 54 | main_tab = NULL;
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| 55 | tab = NULL;
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| 56 | sensor_tab = NULL;
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| 57 | setup_groupbox = NULL;
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| 58 |
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| 59 | output = NULL;
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| 60 | }
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| 61 |
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| 62 | LaserRangeFinder::~LaserRangeFinder() {}
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| 63 |
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| 64 | GroupBox *LaserRangeFinder::GetGroupBox(void) const { return setup_groupbox; }
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| 65 |
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| 66 | Layout *LaserRangeFinder::GetLayout(void) const { return sensor_tab; }
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| 67 |
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| 68 | RangeFinderPlot *LaserRangeFinder::GetPlot(void) const { return plot; }
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| 69 |
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| 70 | void LaserRangeFinder::UseDefaultPlot(void) {
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| 71 | if (tab == NULL) {
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| 72 | Err("not applicable for simulation part.\n");
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| 73 | return;
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| 74 | }
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| 75 |
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| 76 | plot_tab = new Tab(tab, "Mesures");
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| 77 | plot = new RangeFinderPlot(plot_tab->NewRow(), "plot", "x", -30, 30, "y", -30,
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| 78 | 30, output, 0, 359, output->Rows());
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| 79 | }
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| 80 | } // end namespace sensor
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| 81 | } // end namespace flair
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