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 | /*!
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6 | * \file RangeFinderPlot.h
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7 | * \brief Class displaying a 2D plot on the ground station for laser range
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8 | * finder like Hokuyo
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9 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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10 | * \date 2014/07/23
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11 | * \version 4.0
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12 | */
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13 |
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14 | #ifndef RANGEFINDERPLOT_H
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15 | #define RANGEFINDERPLOT_H
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16 |
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17 | #include <SendData.h>
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18 | #include <stdint.h>
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19 |
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20 | namespace flair {
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21 | namespace core {
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22 | class Matrix;
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23 | }
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24 | }
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25 |
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26 | namespace flair {
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27 | namespace gui {
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28 |
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29 | class LayoutPosition;
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30 |
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31 | /*! \class RangeFinderPlot
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32 | *
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33 | * \brief Class displaying a 2D plot on the ground station for laser range finder
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34 | *like Hokuyo
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35 | *
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36 | */
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37 | class RangeFinderPlot : public SendData {
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38 | public:
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39 | /*!
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40 | * \brief Constructor
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41 | *
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42 | * Construct a 2D plot at given position. \n
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43 | * The RangeFinderPlot will automatically be child of position->getLayout()
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44 | *Layout. After calling this constructor,
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45 | * position will be deleted as it is no longer usefull.
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46 | *
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47 | * \param position position to display the plot
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48 | * \param name name
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49 | * \param x_name name of x axis
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50 | * \param xmin default xmin of the plot
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51 | * \param xmax default xmax of the plot
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52 | * \param y_name name of y axis
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53 | * \param ymin default ymin of the plot
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54 | * \param ymax default ymax of the plot
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55 | * \param datas laser datas
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56 | * \param start_angle start angle of the laser
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57 | * \param end_angle end angle of the laser
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58 | * \param nb_samples number of samples
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59 | */
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60 | RangeFinderPlot(const LayoutPosition *position, std::string name,
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61 | std::string x_name, float xmin, float xmax,
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62 | std::string y_name, float ymin, float ymax,
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63 | const core::Matrix *datas, float start_angle,
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64 | float end_angle, uint32_t nb_samples);
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65 |
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66 | /*!
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67 | * \brief Destructor
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68 | *
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69 | */
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70 | ~RangeFinderPlot();
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71 |
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72 | private:
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73 | /*!
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74 | * \brief Copy datas to specified buffer
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75 | *
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76 | * Reimplemented from SendData.
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77 | *
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78 | * \param buf output buffer
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79 | */
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80 | void CopyDatas(char *buf) const;
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81 |
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82 | /*!
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83 | * \brief Extra Xml event
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84 | *
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85 | * Reimplemented from SendData.
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86 | */
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87 | void ExtraXmlEvent(void){};
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88 |
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89 | const core::Matrix *datas;
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90 | };
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91 |
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92 | } // end namespace gui
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93 | } // end namespace flair
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94 |
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95 | #endif // RANGEFINDERPLOT_H
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