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Drawing_Area Class Reference

A class representing the drawing area of the screen on which the robot's internal map is drawn. More...

#include <drawing_area.h>

Public Member Functions
	Drawing_Area (int x, int y, int w, int h)
OOMRM_STATIC void	initialize (void)
	Constructor.
int	step_through (int mapx, int mapy, int radius, RADIAN radian)
int	real_time (int &, int &, float &, int irec)
OOMRM_STATIC void	mapsize (int ms)
	fl_map use.
OOMRM_STATIC bool	transformxy (int ix, int iy, float &sx, float &sy, float UNIT)
	Transform coordinate from X to pixels.
void	new_display ()
	Internal stuff?
OOMRM_STATIC void	circle (int, int, int, CPixel *const, COLOR)
	Draws a circle on the map at center cx,cy with radius R, and Window buffer.
OOMRM_STATIC void	line (int cx, int cy, int radius, RADIAN radian, CPixel *const buffer, COLOR color=BLACK)
	Draws a line on the map from cx,cy length radius and orientation radians RADIAN.
OOMRM_STATIC void	user_updates (short int, short int, int, int)
	Misnomer: fills in a region at mapx, mapy dimensions totalx, totaly.
OOMRM_STATIC void	update3x5 (const pose_chain &cc)
	Loads the 3x5 cards into the simulator to be drawn on the map.
void	print_path (CPixel *const buffer, int width, int height)
void	resize (int, int, int, int)
	Internal stuff?
int	idle (int, int, int, RADIAN)
	redraw function.
OOMRM_STATIC void	Refresh (void)
OOMRM_STATIC Fl_Tabs *	tabs (void)
	Whether map has been updated since last save.
OOMRM_STATIC void	tabs (Fl_Tabs *o)
OOMRM_STATIC void	map (Fl_Group *o)
OOMRM_STATIC Fl_Group *	MapTab (void)
OOMRM_STATIC void	MapTab (Fl_Group *imap)
OOMRM_STATIC Fl_Group *	Map_Window (void)
OOMRM_STATIC bool	Resize (void)
OOMRM_STATIC void	reload_waypoints (void)
	Returns true if window has been resized or moved.
OOMRM_STATIC void	playback_fn (const char *const fn)
OOMRM_STATIC const char *const	playback_fn (void)
Static Public Member Functions
void	map_reset (short iwidth, short iheight)
void	destination (int dx, int dy, int length, RADIAN radian)
	Sets destination center orgin of travel and length for drawing path.
float	local_unit ()
Data Fields
OOMRM_STATIC OOMRM_POSITION_WIDGETS	Position
OOMRM_STATIC OOMRM_CAMERA_WIDGETS	Camera_Settings
OOMRM_STATIC label_t	mylabel
OOMRM_STATIC Fl_Output *	response
	Label to display on Window.
Static Public Attributes
int	W
int	H
	Width and Height of screen.
short	_map_width
short	_map_height
Protected Attributes
OOMRM_STATIC float	GLOBAL_UNIT
	How many pixels per user unit (millimeter, decimeter).
OOMRM_STATIC float	LOCAL_UNIT
	How many pixels per map unit.
Static Protected Attributes
playback_reader	_reader
int	startx
int	starty
Private Member Functions
void OOMRM_STATIC	fill_cell (int ix, int iy, CPixel *const buffer, COLOR terrain, LINETYPE line, float UNIT)
void	world_walls (CPixel *const buffer, int width, int height)
void	robot_walls (CPixel *const buffer, int width, int height)
void	gridlines (CPixel *const buffer)
void	draw ()
int	handle (int)
Private Attributes
OOMRM_STATIC point	cards []
OOMRM_STATIC int	cardtop
OOMRM_STATIC OGrid *	_rgrid
OOMRM_STATIC bool	_dirty
float	map_scale_factor
CPixel *	Pbuffer
float	t2
float	t1
OOMRM_STATIC Fl_Tabs *	WINDOW_TAB
OOMRM_STATIC Fl_Group *	MAP_GROUP
OOMRM_STATIC Fl_Group *	MAP_WINDOW
Static Private Attributes
pose	_orgin
int	_travel_distance
Friends
void	vs_cb (Fl_Scrollbar *vs, void *)
void	hs_cb (Fl_Scrollbar *vs, void *)
void	mapsize_cb (Fl_Counter *, void *)

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Detailed Description

A class representing the drawing area of the screen on which the robot's internal map is drawn.

Used by fl_map FLTK class and used by the simulator (mrsim). Provides a few methods for external use:

• update3x5 : Provides a list of poses in which to draw rectangles (3x5 cards). Needs to be made more general.
• circle : Draws a circle on the screen.
• line : Draws a line on the screen.

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Constructor & Destructor Documentation

Drawing_Area (  int  x, int  y, int  w, int  h )

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Member Function Documentation

OOMRM_STATIC void circle (  int  , int  , int  , CPixel *  const, COLOR  )

Draws a circle on the map at center cx,cy with radius R, and Window buffer.

void destination (  int  dx, int  dy, int  length, RADIAN  radian )  [static]

Sets destination center orgin of travel and length for drawing path.

void draw (   )  [private]

void OOMRM_STATIC fill_cell (  int  ix, int  iy, CPixel *const  buffer, COLOR  terrain, LINETYPE  line, float  UNIT )  [private]

void gridlines (  CPixel *const  buffer  )  [private]

int handle (  int   )  [private]

int idle (  int  , int  , int  , RADIAN  )

redraw function.

OOMRM_STATIC void initialize (  void   )

Constructor.

OOMRM_STATIC void line (  int  cx, int  cy, int  radius, RADIAN  radian, CPixel *const  buffer, COLOR  color = BLACK )

Draws a line on the map from cx,cy length radius and orientation radians RADIAN.

float local_unit (   )  [static]

OOMRM_STATIC void map (  Fl_Group *  o  )

void map_reset (  short  iwidth, short  iheight )  [static]

OOMRM_STATIC Fl_Group* Map_Window (  void   )

OOMRM_STATIC void mapsize (  int  ms  )

fl_map use.

OOMRM_STATIC void MapTab (  Fl_Group *  imap  )

OOMRM_STATIC Fl_Group* MapTab (  void   )

void new_display (   )

Internal stuff?

OOMRM_STATIC const char* const playback_fn (  void   )

OOMRM_STATIC void playback_fn (  const char *const  fn  )

void print_path (  CPixel *const  buffer, int  width, int  height )

int real_time (  int &  , int &  , float &  , int  irec )

OOMRM_STATIC void Refresh (  void   )

OOMRM_STATIC void reload_waypoints (  void   )

Returns true if window has been resized or moved.

OOMRM_STATIC bool Resize (  void   )

void resize (  int  , int  , int  , int  )

Internal stuff?

void robot_walls (  CPixel *const  buffer, int  width, int  height )  [private]

int step_through (  int  mapx, int  mapy, int  radius, RADIAN  radian )

OOMRM_STATIC void tabs (  Fl_Tabs *  o  )

OOMRM_STATIC Fl_Tabs* tabs (  void   )

Whether map has been updated since last save.

OOMRM_STATIC bool transformxy (  int  ix, int  iy, float &  sx, float &  sy, float  UNIT )

Transform coordinate from X to pixels.

OOMRM_STATIC void update3x5 (  const pose_chain &  cc  )

Loads the 3x5 cards into the simulator to be drawn on the map.

OOMRM_STATIC void user_updates (  short  int, short  int, int  , int  )

Misnomer: fills in a region at mapx, mapy dimensions totalx, totaly.

void world_walls (  CPixel *const  buffer, int  width, int  height )  [private]

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Friends And Related Function Documentation

void hs_cb (  Fl_Scrollbar *  vs, void *  )  [friend]

void mapsize_cb (  Fl_Counter *  , void *  )  [friend]

void vs_cb (  Fl_Scrollbar *  vs, void *  )  [friend]

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Field Documentation

OOMRM_STATIC bool _dirty [private]

short _map_height [static]

short _map_width [static]

pose _orgin [static, private]

playback_reader _reader [static, protected]

OOMRM_STATIC OGrid* _rgrid [private]

int _travel_distance [static, private]

OOMRM_STATIC OOMRM_CAMERA_WIDGETS Camera_Settings

OOMRM_STATIC point cards[] [private]

OOMRM_STATIC int cardtop [private]

OOMRM_STATIC float GLOBAL_UNIT [protected]

How many pixels per user unit (millimeter, decimeter).

int H [static]

Width and Height of screen.

OOMRM_STATIC float LOCAL_UNIT [protected]

How many pixels per map unit.

OOMRM_STATIC Fl_Group* MAP_GROUP [private]

float map_scale_factor [private]

OOMRM_STATIC Fl_Group* MAP_WINDOW [private]

OOMRM_STATIC label_t mylabel

CPixel* Pbuffer [private]

OOMRM_STATIC OOMRM_POSITION_WIDGETS Position

OOMRM_STATIC Fl_Output* response

Label to display on Window.

int startx [static, protected]

int starty [static, protected]

float t1 [private]

float t2 [private]

int W [static]

OOMRM_STATIC Fl_Tabs* WINDOW_TAB [private]

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