source: flair-src/trunk/lib/FlairCore/src/RangeFinderPlot.cpp @ 137

Last change on this file since 137 was 137, checked in by Sanahuja Guillaume, 5 years ago

singleton manager

File size: 2.0 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5//  created:    2014/07/23
6//  filename:   RangeFinderPlot.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class displaying a 2D plot on the ground station for laser range
14//  finder like Hokuyo
15//
16//
17/*********************************************************************/
18
19#include "RangeFinderPlot.h"
20#include "cvmatrix.h"
21#include "Layout.h"
22#include "LayoutPosition.h"
23#include <cxcore.h>
24
25using std::string;
26using namespace flair::core;
27
28namespace flair {
29namespace gui {
30
31RangeFinderPlot::RangeFinderPlot(const LayoutPosition *position, string name,
32                                 string x_name, float xmin, float xmax,
33                                 string y_name, float ymin, float ymax,
34                                 const cvmatrix *datas, float start_angle,
35                                 float end_angle, uint32_t nb_samples)
36    : SendData(position, name, "RangeFinderPlot", 200) {
37  this->datas = datas;
38
39  SetSendSize(datas->GetDataType().GetSize());
40
41  SetVolatileXmlProp("xmin", xmin);
42  SetVolatileXmlProp("xmax", xmax);
43  SetVolatileXmlProp("ymin", ymin);
44  SetVolatileXmlProp("ymax", ymax);
45  SetVolatileXmlProp("x_name", x_name);
46  SetVolatileXmlProp("y_name", y_name);
47  SetVolatileXmlProp("start_angle", start_angle);
48  SetVolatileXmlProp("end_angle", end_angle);
49  SetVolatileXmlProp("nb_samples", nb_samples);
50  SetVolatileXmlProp(
51      "type", datas->GetDataType().GetElementDataType().GetDescription());
52  SendXml();
53
54  if (datas->Cols() != 1 || datas->Rows() != nb_samples)
55    Err("Wrong input matrix size\n");
56}
57
58RangeFinderPlot::~RangeFinderPlot() {}
59
60void RangeFinderPlot::CopyDatas(char *buf) const {
61  datas->GetMutex();
62  memcpy(buf, datas->getCvMat()->data.ptr, datas->GetDataType().GetSize());
63  datas->ReleaseMutex();
64}
65
66} // end namespace gui
67} // end namespace flair
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