MAV2DIcon.h 2.36 KB
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#ifndef MAV2DICON_H
#define MAV2DICON_H

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#include <QGraphicsItem>
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#include "UASInterface.h"
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#include "opmapcontrol.h"
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class MAV2DIcon : public mapcontrol::UAVItem
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{
public:
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    enum {
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        MAV_ICON_GENERIC = 0,
        MAV_ICON_AIRPLANE,
        MAV_ICON_QUADROTOR,
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        MAV_ICON_COAXIAL,
        MAV_ICON_HELICOPTER,
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    } MAV_ICON_TYPE;
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    //!
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    /*!
     *
     * @param x longitude
     * @param y latitude
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     * @param radius the radius of the circle
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     * @param name name of the circle point
     * @param alignment alignment (Middle or TopLeft)
     * @param pen QPen for drawing
     */
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    MAV2DIcon(mapcontrol::MapGraphicItem* map,mapcontrol::OPMapWidget* parent, UASInterface* uas, int radius = 10, int type=0);
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    /*!
     *
     * @param x longitude
     * @param y latitude
     * @param name name of the circle point
     * @param alignment alignment (Middle or TopLeft)
     * @param pen QPen for drawing
     */
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    MAV2DIcon(mapcontrol::MapGraphicItem* map,mapcontrol::OPMapWidget* parent, qreal lat=0, qreal lon=0, qreal alt=0, QPen* pen=0);
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    virtual ~MAV2DIcon();

    //! sets the QPen which is used for drawing the circle
    /*!
     * A QPen can be used to modify the look of the drawn circle
     * @param pen the QPen which should be used for drawing
     * @see http://doc.trolltech.com/4.3/qpen.html
     */
    virtual void setPen(QPen* pen);

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    /** @brief Mark this system as selected */
    void setSelectedUAS(bool selected);
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    void setYaw(float yaw);
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    /** @brief Set the airframe this MAV uses */
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    void setAirframe(int airframe) {
        this->airframe = airframe;
    }
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    /** @brief Get system id */
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    int getUASId() const {
        return uasid;
    }
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    void drawIcon(QPen* pen);
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    void drawIcon() {
        drawIcon(mypen);
    }
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    static void drawAirframePolygon(int airframe, QPainter& painter, int radius, QColor& iconColor, float yaw);
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protected:
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    float yaw;      ///< Yaw angle of the MAV
    int radius;     ///< Radius / width of the icon
    int type;       ///< Type of aircraft: 0: generic, 1: airplane, 2: quadrotor, 3-n: rotary wing
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    int airframe;   ///< The specific type of airframe used
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    QColor iconColor; ///< Color to be used for the icon
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    bool selected;  ///< Wether this is the system currently in focus
    int uasid;      ///< ID of tracked system
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    QPen* mypen;
    QSize size;
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};

#endif // MAV2DICON_H