A wrapper class for drawing 3D shapes in OpenGL. More...

#include <glWidget.hh>

Inheritance diagram for GLWidget:

Collaboration diagram for GLWidget:

Classes
struct	Dimensions
	Dimensions used in drawing. More...

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

void	rightWheelDirection (const int &direction)
	A slot to get a right wheel spining direction. More...

void	leftWheelDirection (const int &direction)
	A slot to get the left wheel spining direction. More...

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

Protected Member Functions
virtual void	init () override
	Initialize the openGL widget. More...

virtual void	draw () override
	Draw a content in the openGL widget. More...

virtual QString	helpString () const override
	Construct a help string for the openGL widget. More...

Private Member Functions
void	loadTexture (GLuint *texture, const std::string &path)
	Load a texture object. More...

void	drawRobot ()
	Draw the robot shape. More...

void	drawOneObstacle (GLfloat x, GLfloat y, GLfloat z, GLfloat color)
	Draw the one obstacle on (x, y, z) coordinates. More...

void	_drawCube (GLfloat size, GLubyte R, GLubyte G, GLubyte B)
	Draw a cube shape. More...

void	_drawCylinder (GLfloat radius, GLfloat height, GLubyte R, GLubyte G, GLubyte B, GLuint texture)
	Draw the cylinder shape with the texture on the top. More...

Private Attributes
QString	_wheelTexturePath
	The path to the wheel texture file. More...

QString	_robotTexturePath
	The path to the robot texture file. More...

int	_rightWheelDirection = 0
	The right robot wheel spining direction. More...

int	_leftWheelDirection = 0
	The left robot wheel spining direction. More...

std::vector< std::vector< float > >	_obstacleCoordinates
	All obstacles coordinates in 3D space. More...

std::vector< float >	_obstacleColors
	All obstacles colors. More...

struct GLWidget::Dimensions	_dimensions

Detailed Description

Definition at line 25 of file glWidget.hh.

Constructor & Destructor Documentation

◆ GLWidget()

GLWidget::GLWidget ( QWidget * parent )

Parameters

[in,out] parent A pointer to the parent object.

Definition at line 27 of file glWidget.cpp.

Member Function Documentation

◆ _drawCube()

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

private

Parameters

[in]	size	A cube size.
[in]	R	A red color value [0-255].
[in]	G	A green color value [0-255].
[in]	B	A blue color value [0-255].

Definition at line 186 of file glWidget.cpp.

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◆ _drawCylinder()

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

private

Parameters

[in]	radius	The cylinder radius value.
[in]	height	The cylinder height value.
[in]	R	A red color value [0-255].
[in]	G	A green color value [0-255].
[in]	B	A blue color value [0-255].
[in]	texture	The texture to draw on the top on the cylinder.

Definition at line 233 of file glWidget.cpp.

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◆ draw()

void GLWidget::draw ( )

overrideprotectedvirtual

Definition at line 73 of file glWidget.cpp.

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◆ drawOneObstacle()

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

private

Parameters

[in]	x	Coordinate on the x axis.
[in]	y	Coordinate on the y axis.
[in]	z	Coordinate on the z axis.
[in]	color	The obstacle color.

Definition at line 177 of file glWidget.cpp.

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◆ drawRobot()

void GLWidget::drawRobot ( )

private

Wrapper function for drawing whole the robot shape from a cylinder shapes.

Definition at line 152 of file glWidget.cpp.

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◆ helpString()

QString GLWidget::helpString ( ) const

overrideprotectedvirtual

Returns: A string with help.

Definition at line 109 of file glWidget.cpp.

◆ init()

void GLWidget::init ( )

overrideprotectedvirtual

Definition at line 92 of file glWidget.cpp.

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◆ leftWheelDirection

void GLWidget::leftWheelDirection ( const int & direction )

slot

Parameters

[in] direction The wheel spining direction.

Definition at line 68 of file glWidget.cpp.

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◆ loadTexture()

void GLWidget::loadTexture	(	GLuint *	texture,
		const std::string &	path
	)

private

Loads the texture from given path to passed texture handle.

Parameters

[in,out]	texture	A texture handle.
[in]	path	A path to a texture file.

Definition at line 132 of file glWidget.cpp.

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◆ obstacleDataReady

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

slot

Parameters

[in] lidarData A lidar data from the frame parser.

Definition at line 33 of file glWidget.cpp.

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◆ rightWheelDirection

void GLWidget::rightWheelDirection ( const int & direction )

slot

Parameters

[in] direction The wheel spining direction.

Definition at line 63 of file glWidget.cpp.

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Member Data Documentation

◆ _dimensions

struct GLWidget::Dimensions GLWidget::_dimensions

private

◆ _leftWheelDirection

int GLWidget::_leftWheelDirection = 0

private

Definition at line 120 of file glWidget.hh.

◆ _obstacleColors

std::vector<float> GLWidget::_obstacleColors

private

Definition at line 122 of file glWidget.hh.

◆ _obstacleCoordinates

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

private

Definition at line 121 of file glWidget.hh.

◆ _rightWheelDirection

int GLWidget::_rightWheelDirection = 0

private

Definition at line 119 of file glWidget.hh.

◆ _robotTexturePath

QString GLWidget::_robotTexturePath

private

Definition at line 118 of file glWidget.hh.

◆ _wheelTexturePath

QString GLWidget::_wheelTexturePath

private

Definition at line 117 of file glWidget.hh.

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

Classes

Public Slots

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GLWidget()

Member Function Documentation

◆ _drawCube()

◆ _drawCylinder()

◆ draw()

◆ drawOneObstacle()

◆ drawRobot()

◆ helpString()

◆ init()

◆ leftWheelDirection

◆ loadTexture()

◆ obstacleDataReady

◆ rightWheelDirection

Member Data Documentation

◆ _dimensions

◆ _leftWheelDirection

◆ _obstacleColors

◆ _obstacleCoordinates

◆ _rightWheelDirection

◆ _robotTexturePath

◆ _wheelTexturePath