LocalizationMapEntity.cpp

00001 #include "LocalizationMapEntity.h"
00002 
00003 LocalizationMapEntity::LocalizationMapEntity()
00004 {
00005 
00006 }
00007 
00008 LocalizationMapEntity::LocalizationMapEntity(Point2D<float> center, float orientation, Point2D<float> dim, int shapeType, PixRGB<byte> color, int objectType, int interactionType, int fillType)
00009 {
00010         mCenter = center;
00011         mOrientation = orientation;
00012         mDim = dim;
00013         mShapeType = shapeType;
00014         mFillType = fillType;
00015         mObjectType = objectType;
00016         mColor = color;
00017         mInteractionType = interactionType;
00018 }
00019 
00020 void LocalizationMapEntity::drawMe(Image<PixRGB<byte> > &img, const Camera cam)
00021 {
00022         drawShape(img, cam);
00023         //drawBackground(img, cam);
00024 }
00025 
00026 void LocalizationMapEntity::drawShape(Image<PixRGB<byte> > &img, const Camera cam)
00027 {
00028         Point2D<int> thePoint = Point2D<int> (
00029                         round((mCenter.i - cam.mCenter.i) * cam.mScale),
00030                         -round((mCenter.j + cam.mCenter.j) * cam.mScale)
00031                         );
00032         thePoint += Point2D<int> (img.getWidth() / 2, img.getHeight() / 2);
00033         Dims theDim = Dims(cam.mScale * mDim.i, cam.mScale * mDim.j);
00034         Rectangle theRect = Rectangle(Point2D<int>(thePoint.i, thePoint.j), theDim);
00035         switch(mShapeType)
00036         {
00037         case ShapeType::rect:
00038                 theRect = Rectangle(Point2D<int>(thePoint.i - theDim.w() / 2, thePoint.j - theDim.h() / 2), theDim);
00039                 drawRectOR(img, theRect, mColor, 1, D_DEGREE * (mOrientation + 90.0));
00040                 break;
00041         case ShapeType::line:
00042                 drawLine(img, thePoint, mOrientation * D_DEGREE, mDim.i * cam.mScale, mColor, 1);
00043                 break;
00044         case ShapeType::square:
00045                 theRect = Rectangle(Point2D<int>(thePoint.i - theDim.w() / 2, thePoint.j - theDim.h() / 2), theDim);
00046                 drawRectOR(img, theRect, mColor, 1, D_DEGREE * (mOrientation + 90.0));
00047                 break;
00048         case ShapeType::circle:
00049                 drawCircle(img, thePoint, mDim.i * cam.mScale / 2, mColor, 1);
00050                 break;
00051         }
00052         //drawBackground(img, cam, theRect);
00053 }
00054 
00055 void LocalizationMapEntity::drawBackground(Image<PixRGB<byte> > &img, const Camera cam, Rectangle theRect)
00056 {
00057         /*Dims theDim = theRect.dims();
00058         if(mShapeType.mId ==  ShapeType::line)
00059                 return;
00060         if(mShapeType.mId == ShapeType::circle)
00061         {
00062                 drawCircle(img, theRect.topLeft(), mDim.i * cam.mScale, mColor, 1);
00063         }
00064         else if(mShapeType.mId == ShapeType::rect || mShapeType.mId == ShapeType::square)
00065         {
00066                 theRect.topLeft() += Point2D<int> (-theDim.w() / 2, -theDim.h() / 2);
00067                 drawRectOR(img, theRect, mColor, 1, D_DEGREE * (mOrientation + 90.0));
00068         }*/
00069 }