SonarView.h

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/* 
 * File:   SonarViewGL.cc
 * Author: Matthias Goldhoorn (matthias.goldhoorn@dfki.de) 
 * 
 */

#ifndef SONARVIEW_H
#define SONARVIEW_H

#include "image_view_old/ImageViewOld.h"

class QDESIGNER_WIDGET_EXPORT SonarView : public ImageViewOld
{
    Q_OBJECT
    Q_CLASSINFO("Author", "Matthias Goldhoorn")

public:
    SonarView(QWidget *parent = NULL,bool use_openGL = true);
    virtual ~SonarView();

public slots:    
    void setOpenGL(bool flag);
        void setSonarScan(const char *data, int size, double angle,double timeBetweenBins ,bool fromBearing=false);
    void setPosition(double posX, double posY, double sigmaX, double sigmaY);
        void setOrientation(const double orientation);
    void setDistance(double distance, double angle);
    void paintLine(double bearing, const uint8_t *data, size_t len);
        void paintReference(double bearing, int distance);
    void paintPos(int posX, int posY, int sizeX=10, int sizeY=10);

protected:
    void paintEvent(QPaintEvent *event);
     double lastScale;
     int lastBearing;
     void keyPressEvent(QKeyEvent*);
     QImage img;
};
#endif