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MAV2DIcon.cc 1.83 KiB
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  • #include "MAV2DIcon.h"
    #include <QPainter>
    
    
    MAV2DIcon::MAV2DIcon(qreal x, qreal y, int radius, QString name, Alignment alignment, QPen* pen)
        : Point(x, y, name, alignment),
        yaw(0.0f)
    
        size = QSize(radius, radius);
        drawIcon(pen);
    
    MAV2DIcon::MAV2DIcon(qreal x, qreal y, QString name, Alignment alignment, QPen* pen)
        : Point(x, y, name, alignment)
    {
        int radius = 10;
        size = QSize(radius, radius);
        drawIcon(pen);
    }
    
    MAV2DIcon::~MAV2DIcon()
    {
        delete mypixmap;
    }
    
    void MAV2DIcon::setPen(QPen* pen)
    
     * @param yaw in radians, 0 = north, positive = clockwise
    
        this->yaw = yaw;
    }
    
    void MAV2DIcon::drawIcon(QPen* pen)
    {
        mypixmap = new QPixmap(radius+1, radius+1);
        mypixmap->fill(Qt::transparent);
        QPainter painter(mypixmap);
    
        // DRAW MICRO AIR VEHICLE
        QPointF p(radius/2, radius/2);
    
        float waypointSize = radius;
        QPolygonF poly(3);
        // Top point
        poly.replace(0, QPointF(p.x(), p.y()+waypointSize/2.0f));
        // Right point
        poly.replace(1, QPointF(p.x()-waypointSize/2.0f, p.y()-waypointSize/2.0f));
        // Left point
        poly.replace(2, QPointF(p.x()+waypointSize/2.0f, p.y() + waypointSize/2.0f));
    
    //    // Select color based on if this is the current waypoint
    //    if (list.at(i)->getCurrent())
    //    {
    //        color = QGC::colorCyan;//uas->getColor();
    //        pen.setWidthF(refLineWidthToPen(0.8f));
    //    }
    //    else
    //    {
    //        color = uas->getColor();
    //        pen.setWidthF(refLineWidthToPen(0.4f));
    //    }
    
        //pen.setColor(color);
        if (pen)
        {
            pen->setWidthF(2);
            painter.setPen(*pen);
        }
        else
        {
            QPen pen2(Qt::yellow);
            pen2.setWidth(2);
            painter.setPen(pen2);
        }
        painter.setBrush(Qt::NoBrush);
        painter.drawPolygon(poly);