- 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);