[2] | 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: 2014/07/23
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| 6 | // filename: RangeFinderPlot.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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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: Class displaying a 2D plot on the ground station for laser range finder like Hokuyo
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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 "RangeFinderPlot.h"
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| 19 | #include "cvmatrix.h"
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| 20 | #include "Layout.h"
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| 21 | #include "LayoutPosition.h"
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| 22 | #include "FrameworkManager.h"
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| 23 | #include <cxcore.h>
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| 24 |
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| 25 | using std::string;
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| 26 | using namespace flair::core;
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| 27 |
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| 28 | namespace flair { namespace gui {
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| 29 |
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| 30 | RangeFinderPlot::RangeFinderPlot(const LayoutPosition* position,string name,
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| 31 | string x_name,float xmin,float xmax,
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| 32 | string y_name,float ymin,float ymax,
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| 33 | const cvmatrix* datas,float start_angle,float end_angle,uint32_t nb_samples):
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| 34 | SendData(position,name,"RangeFinderPlot",200) {
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| 35 | this->datas=datas;
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| 36 |
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| 37 | SetSendSize(datas->GetDataType().GetSize());
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| 38 |
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| 39 | SetVolatileXmlProp("xmin",xmin);
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| 40 | SetVolatileXmlProp("xmax",xmax);
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| 41 | SetVolatileXmlProp("ymin",ymin);
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| 42 | SetVolatileXmlProp("ymax",ymax);
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| 43 | SetVolatileXmlProp("x_name",x_name);
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| 44 | SetVolatileXmlProp("y_name",y_name);
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| 45 | SetVolatileXmlProp("start_angle",start_angle);
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| 46 | SetVolatileXmlProp("end_angle",end_angle);
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| 47 | SetVolatileXmlProp("nb_samples",nb_samples);
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| 48 | SetVolatileXmlProp("type",datas->GetDataType().GetElementDataType().GetDescription());
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| 49 | SendXml();
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| 50 |
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| 51 | if(datas->Cols()!=1 || datas->Rows()!=nb_samples) Err("Wrong input matrix size\n");
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| 52 | }
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| 53 |
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| 54 | RangeFinderPlot::~RangeFinderPlot() {}
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| 55 |
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| 56 | void RangeFinderPlot::CopyDatas(char* buf) const {
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| 57 | datas->GetMutex();
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| 58 | memcpy(buf,datas->getCvMat()->data.ptr,datas->GetDataType().GetSize());
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| 59 | datas->ReleaseMutex();
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| 60 | }
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| 61 |
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| 62 | } // end namespace gui
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| 63 | } // end namespace flair
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