glWidget.hh

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#ifndef GLWIDGET_HH
#define GLWIDGET_HH
 
#include <QGLViewer/qglviewer.h>
 
#define PI 3.1415927f
 
class GLWidget : public QGLViewer
{
  public:
    GLWidget(QWidget* parent);
 
  public slots:
    void obstacleDataReady(const std::map<float, int>& lidarData);
 
  protected:
    virtual void init() override;
 
    virtual void draw() override;
 
    virtual QString helpString() const override;
 
  private:
    void drawRobot();
 
    void drawOneObstacle(GLfloat x, GLfloat y, GLfloat z, GLfloat color);
 
    void _drawCube(GLfloat size, GLubyte R, GLubyte G, GLubyte B);
 
    void _drawCylinder(GLfloat radius, GLfloat height, GLubyte R, GLubyte G, GLubyte B);
 
    std::vector<std::vector<float>> _obstacleCoordinates;
 
    std::vector<float> _obstacleRadius;
 
    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;
};
 
#endif // GLWIDGET_HH