source: flair-src/trunk/lib/FlairSensorActuator/src/LaserRangeFinder.cpp@ 3

Last change on this file since 3 was 3, checked in by Sanahuja Guillaume, 7 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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