programs/UrgScanner/UrgDataDraw.h

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#ifndef URG_DATA_DRAW_H
#define URG_DATA_DRAW_H

#include <QGLWidget>
#include "Point3d.h"
#include <memory>

namespace qrk {
  class RangeSensor;
}


class UrgDataDraw : public QGLWidget {
  Q_OBJECT;

  UrgDataDraw(const UrgDataDraw& rhs);
  UrgDataDraw& operator = (const UrgDataDraw& rhs);

  struct pImpl;
  std::auto_ptr<pImpl> pimpl;

 protected:
  void initializeGL(void);
  void resizeGL(int width, int height);
  void paintGL(void);
  void mousePressEvent(QMouseEvent *event);
  void mouseMoveEvent(QMouseEvent *event);

  QSize minimumSizeHint(void) const;

public slots:
  void setTypeH(bool checked);

  void setFrontOnly(bool front_only);

  void magnifyChanged(int value);

  void resetView(void);

public:
  UrgDataDraw(QWidget* parent = 0);
  ~UrgDataDraw(void);

  void redraw(qrk::RangeSensor& sensor,
              qrk::Point3d<int>& wii_rotate, bool record, bool no_plot);

  void clearCaptureData(void);

  void loadVrml(const std::string& fileName);
  void saveVrml(const std::string& fileName);

  void setIntensityMode(bool on);
};

#endif /* !URG_DATA_DRAW_H */