source: flair-src/trunk/lib/FlairCore/src/RangeFinderPlot.cpp @ 16

Last change on this file since 16 was 15, checked in by Bayard Gildas, 6 years ago

sources reformatted with flair-format-dir script

File size: 2.0 KB
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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 "FrameworkManager.h"
24#include <cxcore.h>
25
26using std::string;
27using namespace flair::core;
28
29namespace flair {
30namespace gui {
31
32RangeFinderPlot::RangeFinderPlot(const LayoutPosition *position, string name,
33                                 string x_name, float xmin, float xmax,
34                                 string y_name, float ymin, float ymax,
35                                 const cvmatrix *datas, float start_angle,
36                                 float end_angle, uint32_t nb_samples)
37    : SendData(position, name, "RangeFinderPlot", 200) {
38  this->datas = datas;
39
40  SetSendSize(datas->GetDataType().GetSize());
41
42  SetVolatileXmlProp("xmin", xmin);
43  SetVolatileXmlProp("xmax", xmax);
44  SetVolatileXmlProp("ymin", ymin);
45  SetVolatileXmlProp("ymax", ymax);
46  SetVolatileXmlProp("x_name", x_name);
47  SetVolatileXmlProp("y_name", y_name);
48  SetVolatileXmlProp("start_angle", start_angle);
49  SetVolatileXmlProp("end_angle", end_angle);
50  SetVolatileXmlProp("nb_samples", nb_samples);
51  SetVolatileXmlProp(
52      "type", datas->GetDataType().GetElementDataType().GetDescription());
53  SendXml();
54
55  if (datas->Cols() != 1 || datas->Rows() != nb_samples)
56    Err("Wrong input matrix size\n");
57}
58
59RangeFinderPlot::~RangeFinderPlot() {}
60
61void RangeFinderPlot::CopyDatas(char *buf) const {
62  datas->GetMutex();
63  memcpy(buf, datas->getCvMat()->data.ptr, datas->GetDataType().GetSize());
64  datas->ReleaseMutex();
65}
66
67} // end namespace gui
68} // end namespace flair
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