robomon: Draw detected arcs as circles

diff --git a/src/robomon/hokuyoscan.cpp b/src/robomon/hokuyoscan.cpp
index 41486d9904bdd2f4d079b25f65ac85166741e6e1..8f61ad898b8c6d18da27ded2f00e703e79e8f6a2 100644 (file)
--- a/src/robomon/hokuyoscan.cpp
+++ b/src/robomon/hokuyoscan.cpp
@@ -48,11 +48,9 @@ void HokuyoScan::paintShapeDetect(QPainter * painter)
        painter->setPen(pen2);
 
        for (unsigned i = 0; i < arcs.size(); i++) {
-               painter->drawLine(arcs[i].begin.x, arcs[i].begin.y,
-                                 arcs[i].end.x, arcs[i].end.y);
-
-               QPoint center(arcs[i].center.x, arcs[i].center.y);
-               painter->drawPoint(center);
+               Shape_detect::Arc *a = &arcs[i];
+               painter->drawEllipse(QRectF(a->center.x - a->radius, a->center.y - a->radius,
+                                           2*a->radius, 2*a->radius));
        }
 }