source: flair-src/trunk/lib/FlairSensorActuator/src/LaserRangeFinder.cpp @ 10

Last change on this file since 10 was 3, checked in by Sanahuja Guillaume, 6 years ago

sensoractuator

File size: 2.1 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:    2014/07/22
6//  filename:   LaserRangeFinder.cpp
7//
8//  author:     César RICHARD
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Classe generique des recepteurs LaserRangeFinder
14//
15//
16/*********************************************************************/
17
18#include "LaserRangeFinder.h"
19#include <cvmatrix.h>
20#include <Tab.h>
21#include <TabWidget.h>
22#include <GridLayout.h>
23#include <GroupBox.h>
24#include <PushButton.h>
25#include <FrameworkManager.h>
26#include <Label.h>
27#include <RangeFinderPlot.h>
28#include <string.h>
29
30using std::string;
31using namespace flair::core;
32using namespace flair::gui;
33
34namespace flair { namespace sensor {
35
36LaserRangeFinder::LaserRangeFinder(const FrameworkManager* parent,string name) : IODevice(parent,name) {
37    cvmatrix_descriptor* desc=new cvmatrix_descriptor(360,1);
38    output=new cvmatrix(this,desc,floatType);
39    AddDataToLog(output);
40
41    //station sol
42    main_tab=new Tab(parent->GetTabWidget(),name);
43    tab=new TabWidget(main_tab->NewRow(),name);
44    sensor_tab=new Tab(tab,"Reglages");
45    setup_groupbox=new GroupBox(sensor_tab->NewRow(),name);
46
47}
48
49LaserRangeFinder::LaserRangeFinder(const IODevice* parent,std::string name) : IODevice(parent,name)
50{
51    plot_tab=NULL;
52    main_tab=NULL;
53    tab=NULL;
54    sensor_tab=NULL;
55    setup_groupbox=NULL;
56
57    output=NULL;
58}
59
60LaserRangeFinder::~LaserRangeFinder()
61{
62
63}
64
65
66GroupBox* LaserRangeFinder::GetGroupBox(void) const
67{
68return setup_groupbox;
69}
70
71Layout* LaserRangeFinder::GetLayout(void) const
72{
73return sensor_tab;
74}
75
76
77RangeFinderPlot* LaserRangeFinder::GetPlot(void) const
78{
79return plot;
80}
81
82void LaserRangeFinder::UseDefaultPlot(void)
83{
84    if(tab==NULL)
85    {
86        Err("not applicable for simulation part.\n");
87        return;
88    }
89
90    plot_tab=new Tab(tab,"Mesures");
91    plot=new RangeFinderPlot(plot_tab->NewRow(),"plot","x",-30,30,"y",-30,30,output,0,359,output->Rows());
92}
93} // end namespace sensor
94} // end namespace flair
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