GlobalNavigation
Class MapGUI

java.lang.Object
  SonarGUI
      GlobalNavigation.MapGUI

public class MapGUI
extends SonarGUI

Extends LocalNavigation.SonarGUI to display map-related data (first read the doc for that class).

New methods (and corresponding ROS messages) have been added to draw rectangles and polygons.

Nested Class Summary

protected class	MapGUI.Poly A visual polygon.
protected class	MapGUI.Rect A visual rectangle.

Field Summary

static java.lang.String	APPNAME The application name.
static java.awt.Color	DEFAULT_POLY_COLOR Default color for MapGUI.Polys.
static java.awt.Color	DEFAULT_RECT_COLOR Default color for MapGUI.Rects.
static int	ERASE_POLYS Bitfield constant for GUIEraseMessage.
static int	ERASE_RECTS Bitfield constant for GUIEraseMessage.
static float	POLY_LINE_WIDTH Line width of the lines making up a MapGUI.Poly in pixels.
protected java.awt.Color	polyColor The current MapGUI.Poly color.
protected java.util.Set<MapGUI.Poly>	polys All the MapGUI.Polys.
protected boolean	polysEnabled Whether to paint the polys.
static float	RECT_LINE_WIDTH Line width of the lines making up a MapGUI.Rect in pixels.
protected java.awt.Color	rectColor The current MapGUI.Rect color.
protected java.util.Set<MapGUI.Rect>	rects All the MapGUI.Rects.
protected boolean	rectsEnabled Whether to paint the rects.

Constructor Summary

MapGUI()
See LocalNavigation.SonarGUI().

MapGUI(int poseSaveInterval)
See LocalNavigation.SonarGUI(int).

MapGUI(int poseSaveInterval, double maxTV, double maxRV)
Consruct a new MapGUI.

Method Summary

void	addPoly(java.util.List<java.awt.geom.Point2D.Double> vertices, boolean closed, boolean filled, java.awt.Color color) Add a polygon for display.
void	addRect(double x, double y, double width, double height, boolean filled, java.awt.Color color) Add a rect for display.
void	addRect(java.awt.geom.Rectangle2D.Double r, boolean filled, java.awt.Color color) Add a rect for display.
void	erasePolys() Erase all previously polys.
void	eraseRects() Erase all previously plotted rects.
java.lang.String	getAppName()
void	onStart(Node node) Hook called by ROS to start the gui
protected void	paintInWorldOverGridUnderPosesHook(java.awt.Graphics2D g2d)
protected void	paintPolys(java.awt.Graphics2D g2d) Paint all polys.
protected void	paintRects(java.awt.Graphics2D g2d) Paint all rects.
void	testGraphicsHook()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

APPNAME

public static final java.lang.String APPNAME

The application name.

See Also:

Constant Field Values

ERASE_RECTS

public static final int ERASE_RECTS

Bitfield constant for GUIEraseMessage.

See Also:

Constant Field Values

ERASE_POLYS

public static final int ERASE_POLYS

Bitfield constant for GUIEraseMessage.

See Also:

Constant Field Values

RECT_LINE_WIDTH

public static final float RECT_LINE_WIDTH

Line width of the lines making up a MapGUI.Rect in pixels.

See Also:

Constant Field Values

POLY_LINE_WIDTH

public static final float POLY_LINE_WIDTH

Line width of the lines making up a MapGUI.Poly in pixels.

See Also:

Constant Field Values

DEFAULT_RECT_COLOR

public static final java.awt.Color DEFAULT_RECT_COLOR

Default color for MapGUI.Rects.

DEFAULT_POLY_COLOR

public static final java.awt.Color DEFAULT_POLY_COLOR

Default color for MapGUI.Polys.

rectsEnabled

protected boolean rectsEnabled

Whether to paint the rects.

polysEnabled

protected boolean polysEnabled

Whether to paint the polys.

rectColor

protected java.awt.Color rectColor

The current MapGUI.Rect color.

polyColor

protected java.awt.Color polyColor

The current MapGUI.Poly color.

rects

protected java.util.Set<MapGUI.Rect> rects

All the MapGUI.Rects.

polys

protected java.util.Set<MapGUI.Poly> polys

All the MapGUI.Polys.

Constructor Detail

MapGUI

public MapGUI(int poseSaveInterval,
              double maxTV,
              double maxRV)

Consruct a new MapGUI.

See LocalNavigation.SonarGUI(int, double, double).

MapGUI

public MapGUI(int poseSaveInterval)

See LocalNavigation.SonarGUI(int).

MapGUI

public MapGUI()

See LocalNavigation.SonarGUI().

Method Detail

getAppName

public java.lang.String getAppName()

Default impl returns APPNAME.

Returns:

the title for the GUI frame

addRect

public void addRect(double x,
                    double y,
                    double width,
                    double height,
                    boolean filled,
                    java.awt.Color color)

Add a rect for display.

Parameters:

x - the llc x coord in world frame (m)

y - the llc y coord in world frame (m)

width - the width in world frame (m)

height - the height in world frame (m)

filled - whether to fill the rect

color - the rect color or null to use current

addRect

public void addRect(java.awt.geom.Rectangle2D.Double r,
                    boolean filled,
                    java.awt.Color color)

Add a rect for display.

Parameters:

r - the rect

filled - whether to fill the rect

color - the rect color or null to use current

addPoly

public void addPoly(java.util.List<java.awt.geom.Point2D.Double> vertices,
                    boolean closed,
                    boolean filled,
                    java.awt.Color color)

Add a polygon for display.

Parameters:

vertices - the vertices in ccw order

closed - whether to close the poly

filled - whether to fill the poly

color - the poly color or null to use current

eraseRects

public void eraseRects()

Erase all previously plotted rects.

erasePolys

public void erasePolys()

Erase all previously polys.

paintInWorldOverGridUnderPosesHook

protected void paintInWorldOverGridUnderPosesHook(java.awt.Graphics2D g2d)

This impl paintRects(java.awt.Graphics2D), paintPolys(java.awt.Graphics2D), iff each is enabled.

paintRects

protected void paintRects(java.awt.Graphics2D g2d)

Paint all rects.

Parameters:

g2d - the graphics context

paintPolys

protected void paintPolys(java.awt.Graphics2D g2d)

Paint all polys.

Parameters:

g2d - the graphics context

onStart

public void onStart(Node node)

Hook called by ROS to start the gui

testGraphicsHook

public void testGraphicsHook()
                      throws java.lang.InterruptedException

This impl tests the map graphics.

Throws:

java.lang.InterruptedException