GLWidget Class Reference

#include <glWidget.hh>

Inheritance diagram for GLWidget:

Collaboration diagram for GLWidget:

Public Slots
void	obstacleDataReady (const std::map< float, int > &lidarData)
	Slot to get lidar data when parser sent signal that this data is ready. More...

Public Member Functions
	GLWidget (QWidget *parent)
	Construct a new GLWidget object. More...

Protected Member Functions
virtual void	init () override
	Initialize openGL widget. More...
virtual void	draw () override
	Draw content in openGL widget. More...
virtual QString	helpString () const override
	Construct help string for openGL widget. More...

Private Member Functions
void	drawRobot ()
	Draw robot shape. More...
void	drawOneObstacle (GLfloat x, GLfloat y, GLfloat z, GLfloat color)
	Draw one obstacle. More...
void	_drawCube (GLfloat size, GLubyte R, GLubyte G, GLubyte B)
	Draw cube shape. More...
void	_drawCylinder (GLfloat radius, GLfloat height, GLubyte R, GLubyte G, GLubyte B)
	Draw cylinder shape. More...

Private Attributes
std::vector< std::vector< float > >	_obstacleCoordinates
	All obstacles coordinates. More...
std::vector< float >	_obstacleRadius
	_obstacleRadius All obstacles radius More...
const float	__scale = 1.0f / 4000.0f
const float	__robotHeight = 200.0 * __scale
const float	__robotRadius = 300.0 * __scale
const float	__robotWheelRadius = 100.0 * __scale
const float	__robotWheelThickness = 50.0 * __scale
const float	__lidarHeight = 210.0 * __scale
const float	__obstacleSize = 30.0 * __scale

Detailed Description

Definition at line 19 of file glWidget.hh.

Constructor & Destructor Documentation

GLWidget()

GLWidget::GLWidget

(

QWidget *

parent

)

Parameters

[in]

parent

Poiter to parent widget

Definition at line 14 of file glWidget.cpp.

Member Function Documentation

_drawCube()

void GLWidget::_drawCube ( GLfloat  size, GLubyte  R, GLubyte  G, GLubyte  B  )

private

Parameters

[in]	size	Cube size
[in]	R	Red color value [0-255]
[in]	G	Green color value [0-255]
[in]	B	Blue color value [0-255]

Definition at line 122 of file glWidget.cpp.

Here is the caller graph for this function:

_drawCylinder()

void GLWidget::_drawCylinder ( GLfloat  radius, GLfloat  height, GLubyte  R, GLubyte  G, GLubyte  B  )

private

Parameters

[in]	radius	Cylinder radius
[in]	height	Cylinder height
[in]	R	Red color value [0-255]
[in]	G	Green color value [0-255]
[in]	B	Blue color value [0-255]

Definition at line 169 of file glWidget.cpp.

Here is the caller graph for this function:

draw()

void GLWidget::draw ( )

overrideprotectedvirtual

Definition at line 47 of file glWidget.cpp.

Here is the call graph for this function:

drawOneObstacle()

void GLWidget::drawOneObstacle ( GLfloat  x, GLfloat  y, GLfloat  z, GLfloat  color  )

private

Parameters

[in]	x	Coordinate on x axis
[in]	y	Coordinate on y axis
[in]	z	Coordinate on z axis
[in]	color	Obstacle color

Definition at line 113 of file glWidget.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

drawRobot()

void GLWidget::drawRobot ( )

private

Definition at line 93 of file glWidget.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

helpString()

QString GLWidget::helpString ( ) const

overrideprotectedvirtual

Returns

String with help

Definition at line 70 of file glWidget.cpp.

init()

void GLWidget::init ( )

overrideprotectedvirtual

Definition at line 64 of file glWidget.cpp.

obstacleDataReady

void GLWidget::obstacleDataReady ( const std::map< float, int > &  lidarData )

slot

Parameters

[in]

lidarData

Lidar data from frame parser

Definition at line 16 of file glWidget.cpp.

Here is the caller graph for this function:

Member Data Documentation

__lidarHeight

const float GLWidget::__lidarHeight = 210.0 * __scale

private

Definition at line 110 of file glWidget.hh.

__obstacleSize

const float GLWidget::__obstacleSize = 30.0 * __scale

private

Definition at line 112 of file glWidget.hh.

__robotHeight

const float GLWidget::__robotHeight = 200.0 * __scale

private

Definition at line 104 of file glWidget.hh.

__robotRadius

const float GLWidget::__robotRadius = 300.0 * __scale

private

Definition at line 105 of file glWidget.hh.

__robotWheelRadius

const float GLWidget::__robotWheelRadius = 100.0 * __scale

private

Definition at line 107 of file glWidget.hh.

__robotWheelThickness

const float GLWidget::__robotWheelThickness = 50.0 * __scale

private

Definition at line 108 of file glWidget.hh.

__scale

const float GLWidget::__scale = 1.0f / 4000.0f

private

Some dimensions used in drawing im millimiters

Scale is important because max distance from lidar is 4m so we have to scale down other dimensions to fit all data in 1x1x1 cube

Definition at line 102 of file glWidget.hh.

_obstacleCoordinates

std::vector<std::vector<float> > GLWidget::_obstacleCoordinates

private

Definition at line 89 of file glWidget.hh.

_obstacleRadius

std::vector<float> GLWidget::_obstacleRadius

private

Definition at line 94 of file glWidget.hh.

---

The documentation for this class was generated from the following files:

• glWidget.hh
• glWidget.cpp