#include <QGraphicsRectItem>
#include "PlaygroundScene.h"
-#include "dimensions.h"
-PlaygroundScene::PlaygroundScene(int playgroundType, QObject *parent)
+PlaygroundScene::PlaygroundScene(QObject *parent)
: QGraphicsScene(parent)
{
- switch (playgroundType) {
- case PLAYGROUND_EUROBOT2007:
- createPlaygroundEurobot2007();
- break;
- case PLAYGROUND_EUROBOT2008:
- createPlaygroundEurobot2008();
- break;
- default:
- createPlaygroundEurobot2007();
- break;
- }
-
- obstacle = new QGraphicsEllipseItem(0, 0, 10, 10);
- obstacle->setZValue(5);
- obstacle->setBrush(QBrush(Qt::blue));
- obstacle->setVisible(false);
- this->addItem(obstacle);
-}
-
-PlaygroundScene::~PlaygroundScene()
-{
-}
-
-void PlaygroundScene::createPlaygroundEurobot2007()
-{
+ using namespace Qt;
QGraphicsRectItem *tempRect;
- setSceneRect(0, 0, 615, 430);
- /* playground border */
- addLine(QLineF(TOP_LEFT, TOP_MIDDLE), QPen(QBrush(Qt::red),
- 2, Qt::SolidLine, Qt::FlatCap, Qt::BevelJoin));
- addLine(QLineF(TOP_MIDDLE,TOP_RIGHT), QPen(QBrush(Qt::blue),
- 2, Qt::SolidLine, Qt::FlatCap, Qt::BevelJoin));
- addLine(QLineF(TOP_LEFT, BOTTOM_LEFT), QPen(QBrush(Qt::red),
- 2, Qt::SolidLine, Qt::FlatCap, Qt::BevelJoin));
- addLine(QLineF(BOTTOM_LEFT, BOTTOM_MIDDLE), QPen(QBrush(Qt::red),
- 2, Qt::SolidLine, Qt::FlatCap, Qt::BevelJoin));
- addLine(QLineF(BOTTOM_MIDDLE, BOTTOM_RIGHT), QPen(QBrush(Qt::blue),
- 2, Qt::SolidLine, Qt::FlatCap, Qt::BevelJoin));
- addLine(QLineF(BOTTOM_RIGHT, TOP_RIGHT), QPen(QBrush(Qt::blue),
- 2, Qt::SolidLine, Qt::FlatCap, Qt::BevelJoin));
-
- /* red basket */
- addLine(QLineF(BIN_LEFT_BOTTLE_START, BIN_LEFT_BOTTLE_END),
- QPen(QBrush(Qt::red), 10, Qt::SolidLine,
- Qt::FlatCap, Qt::BevelJoin));
- addLine(QLineF(BIN_LEFT_CAN_START, BIN_LEFT_CAN_END),
- QPen(QBrush(Qt::red), 10, Qt::SolidLine,
- Qt::FlatCap, Qt::BevelJoin));
+ /* All scene units are milimeters */
- /* blue basket */
- addLine(QLineF(BIN_RIGHT_BOTTLE_START, BIN_RIGHT_BOTTLE_END),
- QPen(QBrush(Qt::blue), 10, Qt::SolidLine,
- Qt::FlatCap, Qt::BevelJoin));
- addLine(QLineF(BIN_RIGHT_CAN_START, BIN_RIGHT_CAN_END),
- QPen(QBrush(Qt::blue), 10, Qt::SolidLine,
- Qt::FlatCap, Qt::BevelJoin));
+ /* playground border */
+ addRect(QRect(0, 0, -22, 2100), QPen(), QBrush(white));
+ addRect(QRect(-22, 2100, 3000+2*22, 22), QPen(), QBrush(white));
+ addRect(QRect(3000, 0, 22, 2100), QPen(), QBrush(white));
/* playground */
- tempRect = addRect(QRectF(11, 1, 597, 417), QPen(QBrush(Qt::lightGray),
- 1, Qt::SolidLine, Qt::FlatCap, Qt::BevelJoin),
- QBrush(Qt::lightGray));
+ tempRect = addRect(QRect(0, 0, 3000, 2100), QPen(), QBrush(QColor(0, 148, 180)));
tempRect->setZValue(1);
- /* blue starting area */
- tempRect = addRect(QRectF(11, 1, 100, 100), QPen(QBrush(Qt::green),
- 1, Qt::SolidLine, Qt::FlatCap, Qt::BevelJoin),
- QBrush(Qt::green));
+ /* green starting area */
+ tempRect = addRect(QRect(0, 1600, 500, 500), QPen(NoPen), QBrush(green));
tempRect->setZValue(3);
/* red starting area */
- tempRect = addRect(QRectF(508, 1, 100, 100), QPen(QBrush(Qt::red),
- 1, Qt::SolidLine, Qt::FlatCap,Qt::BevelJoin),
- QBrush(Qt::red));
+ tempRect = addRect(QRect(2500, 1600, 500, 500), QPen(NoPen), QBrush(red));
tempRect->setZValue(3);
+
+ QBrush brownBrush = QBrush(QColor(202, 98, 9));
+
+ /* circular building area */
+ addEllipse(1500-150, 1050-150, 300, 300, QPen(), brownBrush)->setZValue(3);
+
+ /* side building areas */
+ addRect(QRect(600, 0, 600, 100), QPen(), brownBrush)->setZValue(3);
+ addRect(QRect(1200, 0, 600, 100), QPen(), brownBrush)->setZValue(3);
+ addRect(QRect(1800, 0, 600, 100), QPen(), brownBrush)->setZValue(3);
+
+ obstacle = new QGraphicsEllipseItem(0, 0, 300, 300);
+ obstacle->translate(-150,-150);
+ obstacle->setZValue(5);
+ obstacle->setBrush(QBrush(QColor(blue)));
+ obstacle->setVisible(false);
+ this->addItem(obstacle);
}
-void PlaygroundScene::createPlaygroundEurobot2008()
+PlaygroundScene::~PlaygroundScene()
{
- createPlaygroundEurobot2007();
}
void PlaygroundScene::mousePressEvent(QGraphicsSceneMouseEvent *mouseEvent)
{
QGraphicsScene::mousePressEvent(mouseEvent);
QPointF pos = scene2world(mouseEvent->scenePos());
- obstacle->setPos(mouseEvent->scenePos().x() - 5,
- mouseEvent->scenePos().y() - 5);
+ obstacle->setPos(mouseEvent->scenePos().x(),
+ mouseEvent->scenePos().y());
obstacleChanged(pos);
}
*/
QPointF PlaygroundScene::scene2world(QPointF scenePos)
{
- return QPointF((scenePos.x() - 10) / 200.0, // FIXME: these magic numbers... (F.J.)
- (420 - scenePos.y() + 1) / 200.0);
+ return QPointF((scenePos.x()) / 1000.0,
+ (scenePos.y()) / 1000.0);
}
*/
QPointF PlaygroundScene::world2scene(QPointF worldPos)
{
- return QPointF(worldPos.x() * 200 + 10, // FIXME: these magic numbers... (F.J.)
- 1 + 420-worldPos.y());
+ return QPointF(worldPos.x() * 1000,
+ worldPos.y() * 1000);
}
Q_OBJECT
public:
- PlaygroundScene(int playgroundType = 0, QObject *parent = 0);
+ PlaygroundScene(QObject *parent = 0);
~PlaygroundScene();
virtual void mousePressEvent(QGraphicsSceneMouseEvent *mouseEvent);
static QPointF scene2world(QPointF scenePos);
static QPointF world2scene(QPointF worldPos);
- enum {
- PLAYGROUND_EUROBOT2007,
- PLAYGROUND_EUROBOT2008,
- };
-
signals:
void obstacleChanged(QPointF pos);
#include "MiscGui.h"
#include "robomon_orte.h"
#include "RobomonAtlantis.h"
+#include "playgroundview.h"
#include <QCoreApplication>
#include <QEvent>
playgroundGroupBox = new QGroupBox(tr("Playground"));
QHBoxLayout *layout = new QHBoxLayout();
- playgroundScene =
- new PlaygroundScene(PlaygroundScene::PLAYGROUND_EUROBOT2008);
- playgroundSceneView = new QGraphicsView(playgroundScene);
- playgroundSceneView->setMinimumWidth((int)(playgroundScene->width())+15);
- playgroundSceneView->setMinimumHeight((int)(playgroundScene->height())+15);
+ playgroundScene = new PlaygroundScene();
+ playgroundSceneView = new PlaygroundView(playgroundScene);
+ //playgroundSceneView->setMinimumWidth(630);
+ //playgroundSceneView->setMinimumHeight(445);
+ playgroundSceneView->setMatrix(QMatrix(1,0,0,-1,0,0), true);
+ playgroundSceneView->fitInView(playgroundScene->itemsBoundingRect());
layout->addWidget(playgroundSceneView);
playgroundGroupBox->setLayout(layout);
void RobomonAtlantis::createRobots()
{
- robotActPos = new Robot(NULL, playgroundScene, Qt::black);
+ robotActPos = new Robot(QPen(), QBrush(Qt::darkGray));
robotActPos->setZValue(10);
- robotEstPos = new Robot(NULL, playgroundScene, Qt::green);
- robotEstPos->setZValue(10);
+ robotEstPos = new Robot(QPen(Qt::darkBlue), QBrush(Qt::NoBrush));
+ robotEstPos->setZValue(11);
playgroundScene->addItem(robotActPos);
playgroundScene->addItem(robotEstPos);
#include "PlaygroundScene.h"
#include "Robot.h"
+#include <robodim.h>
-Robot::Robot(QGraphicsItem *parent, QGraphicsScene *scene, Qt::GlobalColor color)
- : QGraphicsItem(parent)
+Robot::Robot(const QPen &pen, const QBrush &brush)
+ : QGraphicsItem(0)
{
- actPhi = M_PI/2;
-
- this->scene = scene;
-
- robotBody = new QGraphicsRectItem(
- QRectF(OFFSET_X, OFFSET_Y, ROBOT_SIZE_X, ROBOT_SIZE_Y),
- parent, scene);
- robotBody->setPen(QPen(QBrush(Qt::black), 1, Qt::SolidLine,
- Qt::FlatCap, Qt::BevelJoin));
- robotBody->setBrush(QBrush(color));
- robotBody->setParentItem(this);
- robotBody->setZValue(10);
- ;
- sensShort[0] = new QGraphicsLineItem(OFFSET_X + 2*2, OFFSET_Y,
- OFFSET_X + 2*2, OFFSET_Y - 30*2, parent, scene);
- sensShort[1] = new QGraphicsLineItem(OFFSET_X + 9.5*2, OFFSET_Y,
- OFFSET_X + 9.5*2, OFFSET_Y - 30*2, parent, scene);
- sensShort[2] = new QGraphicsLineItem(OFFSET_X+17*2, OFFSET_Y,
- OFFSET_X + 17*2, OFFSET_Y-30*2, parent, scene);
- sensShort[3] = new QGraphicsLineItem(OFFSET_X + 28*2, OFFSET_Y,
- OFFSET_X + 28*2, OFFSET_Y - 30*2, parent, scene);
- sensShort[4] = new QGraphicsLineItem(OFFSET_X + 25*2,
- OFFSET_Y + ROBOT_SIZE_Y, OFFSET_X + 25*2,
- OFFSET_Y + ROBOT_SIZE_Y + 30*2, parent, scene);
- sensShort[5] = new QGraphicsLineItem(OFFSET_X + 5*2,
- OFFSET_Y + ROBOT_SIZE_Y, OFFSET_X + 5*2,
- OFFSET_Y + ROBOT_SIZE_Y + 30*2, parent, scene);
-
- for(int i=0; i<6; i++) {
- sensShort[i]->setParentItem(this);
- sensShort[i]->setPen(QPen(QBrush(Qt::red), 2, Qt::DashLine,
- Qt::FlatCap, Qt::BevelJoin));
- }
-
- sensLong[0] = new QGraphicsLineItem(OFFSET_X + 5*2, OFFSET_Y,
- OFFSET_X + 5*2, OFFSET_Y - 80*2, parent, scene);
- sensLong[1] = new QGraphicsLineItem(OFFSET_X + 15*2, OFFSET_Y,
- OFFSET_X + 15*2, OFFSET_Y - 80*2, parent, scene);
- sensLong[2] = new QGraphicsLineItem(OFFSET_X + 25*2, OFFSET_Y,
- OFFSET_X + 25*2, OFFSET_Y - 80*2, parent, scene);
- setZValue(10);
-
-// for(int i=0; i<3; i++) {
-// beacons[i] = new QGraphicsLineItem(parent, scene);
-// beacon1->setLine(QLineF(OFFSET_X + ROBOT_SIZE_X/2,
-// OFFSET_Y + ROBOT_SIZE_Y/2, BEACON1_X, BEACON1_Y));
-// beacons[i]->setPen(QPen(QBrush(Qt::cyan),
-// 2, Qt::SolidLine, Qt::SquareCap, Qt::BevelJoin));
-// beacons[i]->setZValue(20);
-// }
-// beacon2 = new QGraphicsLineItem(parent, scene);
-// beacon2->setLine(QLineF(OFFSET_X + ROBOT_SIZE_X/2,
-// OFFSET_Y + ROBOT_SIZE_Y/2, BEACON2_X, BEACON2_Y));
-// beacon2->setPen(QPen(QBrush(Qt::cyan), 2, Qt::SolidLine,
-// Qt::SquareCap, Qt::BevelJoin));
-// beacon2->setZValue(20);
-//
-// beacon3 = new QGraphicsLineItem(parent, scene);
-// beacon3->setLine(QLineF(OFFSET_X + ROBOT_SIZE_X/2,
-// OFFSET_Y + ROBOT_SIZE_Y/2, BEACON3_X, BEACON3_Y));
-// beacon3->setPen(QPen(QBrush(Qt::cyan), 2, Qt::SolidLine,
-// Qt::SquareCap, Qt::BevelJoin));
-// beacon3->setZValue(20);
-//
-// pCenter = new QPoint(OFFSET_X + ROBOT_SIZE_X/2,
-// 420 - OFFSET_Y - ROBOT_SIZE_Y);
+ this->pen = pen;
+ this->brush = brush;
}
Robot::~Robot()
{
}
-void Robot::initBeacons()
-{
- setBeaconAngle(0,M_PI/4);
- beacons[0]->setLine(pos().x() + ROBOT_SIZE_X/2,
- pos().y() + ROBOT_SIZE_Y/2, BEACON1_X, BEACON1_Y);
- beacons[1]->setLine(pos().x() + ROBOT_SIZE_X/2,
- pos().y() + ROBOT_SIZE_Y/2, BEACON2_X, BEACON2_Y);
- beacons[2]->setLine(pos().x() + ROBOT_SIZE_X/2,
- pos().y() + ROBOT_SIZE_Y/2, BEACON3_X, BEACON3_Y);
-}
-
-void Robot::setBeaconAngle(int idx, double angle)
-{
- double y,x;
- double c = 800;
-
- angle += actPhi;
- y = c*(sin(angle));
- x = c*(cos(angle));
-
- if (angle>M_PI)
- y = -y;
- if ((angle>M_PI/2)&&(angle<3*M_PI/2))
- x = -x;
-
- printf("x %d, y %d\n", pCenter->x(), pCenter->y());
-// printf("x %f, y %f, c %f, sin %f, cos %f\n",a,b,c,sin(angle),cos(angle));
- beacons[idx]->setLine(0, 0, (int)x, (int)y);
- beacons[idx]->moveBy(pCenter->x(), 420-pCenter->y());
-}
-
QRectF Robot::boundingRect() const
{
- return QRectF(this->pos().x(), this->pos().y(),
- ROBOT_SIZE_X+80, ROBOT_SIZE_Y+80);
+ return QRectF(0, 0, ROBOT_WIDTH_MM, ROBOT_AXIS_TO_BACK_MM + ROBOT_AXIS_TO_FRONT_MM);
}
void Robot::paint(QPainter *painter,
Q_UNUSED(widget);
Q_UNUSED(painter);
-// painter->setPen(QPen(QBrush(Qt::black), 1, Qt::SolidLine,
-// Qt::FlatCap, Qt::BevelJoin));
-// painter->setBrush(QBrush(Qt::black));
-// painter->drawRect(QRectF(OFFSET_X, OFFSET_Y,
-// ROBOT_SIZE_X, ROBOT_SIZE_Y));
-}
-
-void Robot::sensorRange(qreal size, int sens_id)
-{
- qreal x1 = sensShort[sens_id]->line().x1();
- qreal y1 = sensShort[sens_id]->line().y1();
- qreal x2 = sensShort[sens_id]->line().x2();
- qreal y2 = sensShort[sens_id]->line().y2();
-
- qreal dx = x1+size*(x2-x1);
- qreal dy = y1+size*(y2-y1);
-
- sensShort[sens_id]->setLine(x1,y1,dx,dy);
-}
-
-void Robot::rotateRobot(qreal angle)
-{
- translate(ROBOT_SIZE_X/2, ROBOT_SIZE_Y/2);
- rotate(angle);
- translate(-ROBOT_SIZE_X/2, -ROBOT_SIZE_Y/2);
+ painter->setPen(pen);
+ painter->setBrush(brush);
+ painter->drawRect(QRectF(0, 0, ROBOT_WIDTH_MM,
+ ROBOT_AXIS_TO_BACK_MM + ROBOT_AXIS_TO_FRONT_MM));
+ const float xa = ROBOT_WIDTH_MM/2.0;
+ const float ya = ROBOT_AXIS_TO_BACK_MM;
+ const float yb = ROBOT_AXIS_TO_BACK_MM + ROBOT_AXIS_TO_FRONT_MM*0.8;
+ const float yc = ROBOT_AXIS_TO_BACK_MM + ROBOT_AXIS_TO_FRONT_MM*0.4;
+ const float xd = ROBOT_WIDTH_MM/4.0;
+ QLineF arrow[] = {
+ QLineF(xa, ya, xa, yb),
+ QLineF(xa, yb, xa-xd, yc),
+ QLineF(xa, yb, xa+xd, yc)};
+ painter->drawLines(arrow, 3);
}
void Robot::moveRobot(double x, double y, double phi)
pos = PlaygroundScene::world2scene(pos);
//TODO use this transpormation function
-
- setPos(x*100*2 - (ROBOT_SIZE_X/2),
- 420-ROBOT_SIZE_Y-(y*100*2)+(ROBOT_SIZE_Y/2));
-// setPos(x*100*2-(ROBOT_SIZE_X),
-// 420-ROBOT_SIZE_Y-(y*100*2)+(ROBOT_SIZE_Y/2));
- rotateRobot((actPhi-phi)*180/M_PI);
- actPhi = phi;
+
+ setPos(x*1000, y*1000);
+ setTransform(QTransform().rotateRadians(phi-M_PI/2.0).translate(-ROBOT_WIDTH_MM/2.0, -ROBOT_AXIS_TO_BACK_MM));
}
+
#include <QGraphicsLineItem>
#include <QPainter>
-#define ROBOT_SIZE_X 30 * 2 // FIXME: add some comments (missing units, ...)
-#define ROBOT_SIZE_Y 30 * 2
-#define OFFSET_X 10
-#define OFFSET_Y 0
-#define SENSOR_SHORT_COUNT 6
-#define SENSOR_LONG_COUNT 10
-
-#define BEACON1_X 600 + OFFSET_X
-#define BEACON1_Y 210 + OFFSET_Y
-#define BEACON2_X 0 + OFFSET_X
-#define BEACON2_Y 420 + OFFSET_Y
-#define BEACON3_X 0 + OFFSET_X
-#define BEACON3_Y 0 + OFFSET_Y
-
class Robot : public QGraphicsItem
{
public:
- Robot(QGraphicsItem *parent = 0, QGraphicsScene *parentScene = 0,
- Qt::GlobalColor color = Qt::black);
+ Robot(const QPen &pen = QPen(), const QBrush &brush = QBrush());
~Robot();
-
- void initBeacons();
- void setBeaconAngle(int, double);
- void paint(QPainter *painter,
- const QStyleOptionGraphicsItem *option, QWidget *widget);
- void sensorRange(qreal size, int sens_id);
- void rotateRobot (qreal angle);
- void moveRobot(double, double, double);
-
- QGraphicsScene *scene;
-// robotSensor *sens;
- QGraphicsLineItem *sensShort[SENSOR_SHORT_COUNT];
- QGraphicsLineItem *sensLong[SENSOR_LONG_COUNT];
- QGraphicsRectItem *robotBody;
- QGraphicsLineItem *beacons[3];
- QPoint *pCenter;
QRectF boundingRect() const;
- char id;
- qreal actPhi;
+ void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
+ void moveRobot(double x, double y, double angle);
+private:
+ QPen pen;
+ QBrush brush;
};
#endif
+++ /dev/null
-/*
- * dimension.h 07/10/31
- *
- * Several definition of positions.
- *
- * Copyright: (c) 2007 CTU Dragons
- * CTU FEE - Department of Control Engineering
- * Authors: Martin Zidek, Michal Sojka, Tran Duy Khanh
- * License: GNU GPL v.2
- */
-
-#ifndef DIMENSIONS_H
-#define DIMENSIONS_H
-
-#define RES_FACTOR 5
-#define RES_X 300 / RES_FACTOR
-#define RES_Y 210 / RES_FACTOR
-
-#define PG_X 600
-#define PG_Y 420
-
-#define TOP_LEFT QPointF(10,0)
-#define TOP_LEFT_X 10
-#define TOP_LEFT_Y 0
-#define TOP_MIDDLE QPointF(310,0)
-#define TOP_RIGHT QPointF(610,0)
-#define BOTTOM_LEFT QPointF(10,420)
-#define BOTTOM_MIDDLE QPointF(310,420)
-#define BOTTOM_RIGHT QPointF(610,420)
-#define BIN_LEFT_BOTTLE_START QPointF(5,320)
-#define BIN_LEFT_BOTTLE_END QPointF(5,420)
-#define BIN_LEFT_CAN_START QPointF(10,425)
-#define BIN_LEFT_CAN_END QPointF(110,425)
-#define BIN_RIGHT_BOTTLE_START QPointF(615,320)
-#define BIN_RIGHT_BOTTLE_END QPointF(615,420)
-#define BIN_RIGHT_CAN_START QPointF(510,425)
-#define BIN_RIGHT_CAN_END QPointF(610,425)
-
-#endif /* DIMENSIONS_H */
--- /dev/null
+//
+// C++ Implementation: playgroundview
+//
+// Description:
+//
+//
+// Author: Michal Sojka <sojkam1@fel.cvut.cz>, (C) 2009
+//
+// Copyright: See COPYING file that comes with this distribution
+//
+//
+#include "playgroundview.h"
+
+void PlaygroundView::resizeEvent(QResizeEvent * event)
+{
+ QGraphicsView::resizeEvent(event);
+ fitInView(scene()->itemsBoundingRect(), Qt::KeepAspectRatio);
+}
+
+
--- /dev/null
+//
+// C++ Interface: playgroundview
+//
+// Description:
+//
+//
+// Author: Michal Sojka <sojkam1@fel.cvut.cz>, (C) 2009
+//
+// Copyright: See COPYING file that comes with this distribution
+//
+//
+#ifndef PLAYGROUNDVIEW_H
+#define PLAYGROUNDVIEW_H
+
+#include <QGraphicsView>
+
+/**
+ @author Michal Sojka <sojkam1@fel.cvut.cz>
+*/
+class PlaygroundView : public QGraphicsView
+{
+Q_OBJECT
+public:
+ PlaygroundView(QGraphicsScene * scene, QWidget * parent = 0) : QGraphicsView(scene, parent) {};
+protected:
+ void resizeEvent ( QResizeEvent * event );
+
+};
+
+#endif
PlaygroundScene.cpp \
Robot.cpp \
SmallRobot.cpp \
- MclPainter.cpp \
- AnglesHistogramPainter.cpp \
Widget.cpp \
GlWidget.cpp \
MiscGui.cpp \
- robomon_orte.cpp
+ robomon_orte.cpp \
+ playgroundview.cpp
TEMPLATE = app
CONFIG += warn_on \
Robot.h \
SmallRobot.h \
Painter.h \
- MclPainter.h \
- AnglesHistogramPainter.h \
Widget.h \
GlWidget.h \
MiscGui.h \
- robomon_orte.h
+ robomon_orte.h \
+ playgroundview.h
LIBS += -lm -lpthread -lmcl -llaser-nav -lrobodim -lrobomath -lroboorte \
-lrobottype -lorte -lsharp -lmap -lactlib
projects / eurobot / public.git / commitdiff