LGLViewer.hpp

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/* $Id: lglViewer.hpp 4094 2009-09-04 09:32:58Z hcao $ */

#ifdef HAVE_MODULE_QDISPLAY // lgl viewer is on if HAVE_MODULE_QDISPLAY is defined

#ifndef LGL_DISPLAY_HPP
#define LGL_DISPLAY_HPP

#include <boost/graph/iteration_macros.hpp>
#include <ostream>
#include <limits>

#include <qdisplay/PolyLine.hpp>
#include <qdisplay/Viewer.hpp>
#include <qdisplay/ViewerManager.hpp>
#include <qdisplay/ImageView.hpp>
#include <qdisplay/Line.hpp>
#include <qdisplay/Shape.hpp>
#include <qdisplay/ImageView.hpp>
#include <qdisplay/AbstractEventHandler.hpp>
#include <qdisplay/Ellipsoid.hpp>
#include <qdisplay/init.hpp>
#include <qdisplay/Viewer.hpp>

#include <lgl/NavGraph.hpp>
#include <lgl/VisibilityMap.hpp>
#include <lgl/VisibleArea.hpp>
#include <lgl/PursuitGraph.hpp>

namespace jafar {
  namespace lgl {
    
    #define NMAX_PATHS 30

    typedef enum {
      DRAW_NODE_OPEN=1,
      DRAW_NODE_VISITED,
      DRAW_NODE_PATH,
      DRAW_NODE_TRACK
      } DRAW_NODE_STATE;

    class LGLViewer {
      public:
        
        LGLViewer();

        LGLViewer(Decomp* _decomp, NavGraph::NavGraphContainer* _graph, double sf=1.0);

        LGLViewer(VisibilityMap *_visibility, Decomp* _decomp=NULL, NavGraph::NavGraphContainer* _graph=NULL, double sf=1.0);
        
        ~LGLViewer();

        jafar::qdisplay::Viewer* getQViewer();

        void setImage(const std::string& filename, double xoffset=0.0, double yoffset=0.0);

        bool displayDecomp();

        bool displayGraph(bool show_edges=true, bool show_nodes=true); 

        bool displayVisibilityMap(const int x, const int y, bool show_viewlines=false, bool show_nodes=true, bool show_rays=false); 

        bool displayVisibleArea(const VisibleArea &myArea, bool show_viewlines=false, bool show_nodes=true, bool show_rays=false); 

        bool displayPGFront(const PursuitGraph & _PG); 

        bool displayPGRisk(const PursuitGraph & _PG); 

        bool displayPGraph(const PursuitGraph & _PG, bool showTarget = false); 

        bool displayGraphWithUTM(bool show_edges=true, bool show_nodes=true); 

        void drawEdge(const NavGNode& prevNode, const NavGNode& curNode, DRAW_NODE_STATE dstate);

        void drawEdge(const NavLocation& prevPos, const NavLocation& curPos, DRAW_NODE_STATE dstate);

        void displayPath(NavPath& dPath);

        void displayFrontiers(std::list<NavGraph::frontierPoint> frontierList);

        void displayHook(const NavGNode& u, DRAW_NODE_STATE dstate);

        void displayHook(const NavLocation& pos, DRAW_NODE_STATE dstate);
        
        void displayFrontierPoint(const NavGraph::frontierPoint& F, double normalizer1, double normalizer2);

        //---------- setters
        void setDecomp(Decomp*);
        void setGraph(NavGraph::NavGraphContainer*);
        void setScaleFactor(double);

      private:

        bool withUTM;

        Decomp* decomp;
        
        NavGraph::NavGraphContainer* graph;

        double scaleFactor;

        jafar::qdisplay::Viewer* viewer;

        int n_path_drawn;

        VisibilityMap *visibility;  

        int highcolor;

        int lowcolor;
      
    };
  }
}

#endif // LGL_DISPLAY_HPP
#endif // QDisplay enabled