/usr/include/Aria/ArDrawingData.h is in libaria-dev 2.8.0+repack-1.2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 | /*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARDRAWINGDATA_H
#define ARDRAWINGDATA_H
#include "ariaTypedefs.h"
#include "ariaUtil.h"
/// A class for holding color information for ArDrawingData
class ArColor
{
public:
/// Constructor (colors use full range of 0-255)
ArColor(unsigned char red, unsigned char green, unsigned char blue)
{ myRed = red; myGreen = green; myBlue = blue; }
/// Constructor
ArColor() { myRed = 255, myGreen = 255, myBlue = 255; }
/// Constructs a color from the given RGB value
ArColor(ArTypes::Byte4 rgbValue)
{
myRed = (rgbValue & 0xFF0000) >> 16;
myGreen = (rgbValue & 0x00FF00) >> 8;
myBlue = (rgbValue & 0x0000FF);
}
/// Destructor
virtual ~ArColor() {}
/// Gets the red value (uses full range of 0-255)
unsigned char getRed(void) { return myRed; }
/// Gets the green value (uses full range of 0-255)
unsigned char getGreen(void) { return myGreen; }
/// Gets the blue value (uses full range of 0-255)
unsigned char getBlue(void) { return myBlue; }
/// Gets the color in a byte 4 for putting into a buffer
ArTypes::Byte4 colorToByte4(void)
{ return ((myRed << 16) | (myGreen << 8) | myBlue); }
protected:
unsigned char myRed;
unsigned char myGreen;
unsigned char myBlue;
};
/** Describes general properties of a figure to be drawn on screen.
* (The actual location/geometry data of the figure is stored elsewhere and may
* change frequently)
*
* The following shapes are currently recognized:
* <ul>
* <li>"polyDots" - a set of small filled circles centered on each point. Each
* ellipse is "size" mm in diameter. (Example: laser) </li>
* <li>"polyArrows" - a set of small arrows that terminate on each point and
* point towards the robot.
* Each arrow is "size" mm in length. (Example: sonar) </li>
* <li>"polyLine" - a line through each of the points. The line is "size"
* pixels wide. (Example: path) </li>
* <li>"polyPoints" - a set of one pixel points. (Example: localization)</li>
* <li>"polySegments" - a set of line segments. For an array of n points,
* n/2 segments are drawn. Each segment is drawn from
* array[i] to array[i+1] (with i starting at 0). The
* segments are "size" pixels wide. </li>
* </ul>
*
* The primary color determines what color the shape is. No shapes currently use
* the secondary color (but future shapes may, or these shapes may be extended
* in the future to use it).
*
* The layer is an arbitrary int identifier that must be greater than 30 and
* less than 100. (Layers below 30 are considered part of the map data, i.e.
* not associated with a particular robot.) The robot is drawn on layer 50.
* Any items that are to be drawn on top of the robot should have a layer
* number greater than 50. By default, range devices begin on layer 70.
*
* The visibility attribute specifies
* whether the data is to be displayed by default, and whether the user is allowed
* to change the display. The following visibilities are currently supported:
* <ul>
* <li> "AlwaysOn" - item is always displayed </li>
* <li> "DefaultOn" - item is visible by default, but the user may hide it</li>
* <li> "DefaultOff" - item is hidden by default but the user may show it </li>
* <li> "AlwaysOff" - item is always hidden</li>
* </ul>
* The default visibility is "DefaultOn".
*
**/
class ArDrawingData
{
public:
enum {
DEFAULT_REFRESH_TIME = 200 ///< Default number of ms between data refresh requests
};
/// Constructor
/**
@param shape the name of the shape to draw (see above / MobileEyes docs for meaning)
@param primaryColor the main color (meaning depends on shape)
@param size the size (meaning varies depends on shape)
@param layer the layer to draw on (see above / MobileEyes docs for meaning)
@param defaultRefreshTime how often we want to draw it in ms
@param visibility a string that indicates whether the data is visible
whether the user is allowed to change the visibility (see above / MobileEyes
docs for valid values).
**/
ArDrawingData(const char *shape,
ArColor primaryColor,
int size,
int layer,
unsigned int defaultRefreshTime = DEFAULT_REFRESH_TIME,
const char *visibility = "DefaultOn") :
myShape(shape),
myPrimaryColor(primaryColor),
mySize(size),
myLayer(layer),
myDefaultRefreshTime(defaultRefreshTime),
mySecondaryColor(ArColor(0,0,0)),
myVisibility(visibility)
{
}
/// Constructor
/**
@param shape the name of the shape to draw (see above / MobileEyes docs for meaning)
@param primaryColor the main color (meaning depends on shape)
@param size the size (meaning varies depends on shape)
@param layer the layer to draw on (see above / MobileEyes docs for meaning)
@param defaultRefreshTime how often we want to draw it in ms
@param secondaryColor the secondary color (meaning depends on shape)
@param visibility a string that indicates whether the data is visible
whether the user is allowed to change the visibility (see above / MobileEyes
docs for valid values).
**/
ArDrawingData(const char *shape,
ArColor primaryColor,
int size,
int layer,
unsigned int defaultRefreshTime,
ArColor secondaryColor,
const char *visibility = "DefaultOn")
{
myShape = shape;
myPrimaryColor = primaryColor;
mySize = size;
myLayer = layer;
myDefaultRefreshTime = defaultRefreshTime;
mySecondaryColor = secondaryColor;
myVisibility = visibility;
}
/// Destructor
virtual ~ArDrawingData() {}
/// Returns the shape of data to draw
const char * getShape(void) { return myShape.c_str(); }
/// Gets the primary color (meaning depending on shape)
ArColor getPrimaryColor(void) { return myPrimaryColor; }
/// Gets the size (meaning depends on shape, but its in mm)
int getSize(void) { return mySize; }
/// Gets the layer to draw at (see MobileEyes docs for what layer means)
int getLayer(void) { return myLayer; }
/// Gets how often this data should be drawn (0 == only when explicitly sent)
unsigned int getDefaultRefreshTime(void) { return myDefaultRefreshTime; }
/// Gets the secondary color (meaning depends on shape)
ArColor getSecondaryColor(void) { return mySecondaryColor; }
/// Gets the visibility of the drawing data
const char *getVisibility(void) { return myVisibility.c_str(); }
/// Sets the shape of data to draw
void setShape(const char *shape) { myShape = shape; }
/// Sets the primary color (meaning depends on shape)
void setPrimaryColor(ArColor color) { myPrimaryColor = color; }
/// Sets the size (meaning depends on shape, but its in mm)
void setSize(int size) { mySize = size; }
/// Sets the layer (see MobileEyes for docs on what layer means)
void setLayer(int layer) { myLayer = layer; }
/// Gets how often this data should be drawn (0 == only when explicitly sent)
void setDefaultRefreshTime(unsigned int refreshTime)
{ myDefaultRefreshTime = refreshTime; }
/// Sets the secondary color (meaning depends on shape)
void setSecondaryColor(ArColor color) { mySecondaryColor = color; }
/// Sets the visibility of the drawing data
void setVisibility(const char *visibility) { myVisibility = visibility; }
protected:
std::string myShape;
ArColor myPrimaryColor;
int mySize;
int myLayer;
unsigned int myDefaultRefreshTime;
ArColor mySecondaryColor;
std::string myVisibility;
};
#endif
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