From 5ff8e079b03c13c7dd3035928fd758852ef3a689 Mon Sep 17 00:00:00 2001
From: jvongehr <joel-jerome.vongehr@stud.hs-bochum.de>
Date: Thu, 19 Aug 2021 11:57:41 +0200
Subject: [PATCH] added first version of parameter for drawing
---
include/turtlesim/turtle_frame.h | 5 +++++
src/turtle_frame.cpp | 37 +++++++++++++++++++++++++++-----
src/turtlesim_xl.cpp | 14 ++++++++++--
3 files changed, 49 insertions(+), 7 deletions(-)
diff --git a/include/turtlesim/turtle_frame.h b/include/turtlesim/turtle_frame.h
index c6873ee..0ddd094 100644
--- a/include/turtlesim/turtle_frame.h
+++ b/include/turtlesim/turtle_frame.h
@@ -59,6 +59,9 @@ public:
std::string spawnTurtle(const std::string& name, float x, float y, float angle);
std::string spawnTurtle(const std::string& name, float x, float y, float angle, size_t index);
+ void setShape(std::string shape);
+ void drawShape();
+
protected:
void paintEvent(QPaintEvent* event);
@@ -99,6 +102,8 @@ private:
float meter_;
float width_in_meters_;
float height_in_meters_;
+
+ std::string shape;
};
}
diff --git a/src/turtle_frame.cpp b/src/turtle_frame.cpp
index d4c9596..a1e1656 100644
--- a/src/turtle_frame.cpp
+++ b/src/turtle_frame.cpp
@@ -44,7 +44,10 @@
namespace turtlesim
{
-TurtleFrame::TurtleFrame(QWidget* parent, Qt::WindowFlags f)
+TurtleFrame::TurtleFrame(QWidget* parent, Qt::WindowFlags f):
+ TurtleFrame("rectangle", parent, f) {}
+
+TurtleFrame::TurtleFrame(std::string shape, QWidget* parent, Qt::WindowFlags f)
: QFrame(parent, f)
, path_image_(FRAME_WIDTH, FRAME_HEIGHT, QImage::Format_ARGB32)
, path_painter_(&path_image_)
@@ -75,7 +78,7 @@ TurtleFrame::TurtleFrame(QWidget* parent, Qt::WindowFlags f)
{
private_nh_.setParam("background_b", DEFAULT_BG_B);
}
-
+
QVector<QString> turtles;
// turtles.append("box-turtle.png");
// turtles.append("robot-turtle.png");
@@ -91,7 +94,7 @@ TurtleFrame::TurtleFrame(QWidget* parent, Qt::WindowFlags f)
// turtles.append("jade.png");
// turtles.append("kinetic.png");
// turtles.append("lunar.png");
- //turtles.append("melodic.png");
+ // turtles.append("melodic.png");
// turtles.append("noetic.png");
QString images_path = (ros::package::getPath("turtlesim_xl") + "/images/").c_str();
for (int i = 0; i < turtles.size(); ++i)
@@ -105,8 +108,8 @@ TurtleFrame::TurtleFrame(QWidget* parent, Qt::WindowFlags f)
clear();
//temp draw shape (hardcoded) -----------------------------------
- path_painter_.setPen(QColor(0xff,0xff,0xff)) ;
- path_painter_.drawRect((12-5)*meter_,FRAME_HEIGHT-(7-5)*meter_,5*meter_,-5*meter_);
+ // path_painter_.setPen(QColor(0xff,0xff,0xff));
+ // path_painter_.drawRect((12-5)*meter_,FRAME_HEIGHT-(7-5)*meter_,5*meter_,-5*meter_);
//QPointF tmp01;
//tmp01.setX((12-5)*meter_);
//tmp01.setY(FRAME_HEIGHT-(7)*meter_);
@@ -293,4 +296,28 @@ bool TurtleFrame::resetCallback(std_srvs::Empty::Request&, std_srvs::Empty::Resp
return true;
}
+void TurtleFrame::drawShape() {
+ path_painter_.setPen(QColor(0xff,0xff,0xff));
+ int xTurtleStart = 12*meter_;
+ int yTurtleStart = FRAME_HEIGHT - 7*meter_;
+ if(shape == "triangle") {
+ int xTopRight = xTurtleStart;
+ int xTopLeft = xTopRight/2;
+ int xBottom = (xTopLeft + xTopRight) / 2;
+
+ int yTop = yTurtleStart;
+ int yBottom = yTop + 5*meter_;
+
+ path_painter_.drawLine(xTopLeft, yTop, xTopRight, yTop);
+ path_painter_.drawLine(xTopLeft, yTop, xBottom, yBottom);
+ path_painter_.drawLine(xBottom, yBottom, xTopRight, yTop);
+ }else {
+ path_painter_.drawRect((12-5)*meter_,FRAME_HEIGHT-(7-5)*meter_,5*meter_,-5*meter_);
+ }
+}
+
+void TurtleFrame::setShape(std::string shape) {
+ this->shape = shape;
+}
+
}
diff --git a/src/turtlesim_xl.cpp b/src/turtlesim_xl.cpp
index 1d5cac1..681c396 100644
--- a/src/turtlesim_xl.cpp
+++ b/src/turtlesim_xl.cpp
@@ -45,9 +45,11 @@ public:
nh_.reset(new ros::NodeHandle);
}
- int exec()
+ int exec(std::string shape = "rectangle")
{
turtlesim::TurtleFrame frame;
+ frame.setShape(shape);
+ frame.drawShape();
frame.show();
return QApplication::exec();
@@ -56,7 +58,15 @@ public:
int main(int argc, char** argv)
{
+ /*
+ argv with launch file:
+ 0: path to node
+ 1: additional argument (the result of shape=... in this case)
+ 2: name of the node
+ 3: path to log
+ */
TurtleApp app(argc, argv);
- return app.exec();
+ std::string shape = argv[1];
+ return app.exec(shape);
}
--
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