QtVisualizer.h

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#pragma once
 
#include <QApplication>
#include <QGraphicsView>
#include <QtWidgets/QMainWindow>
#include <utility>
 
#include "base/Primitives.h"
 
struct LegendEntry {
  std::string label;
  QPen pen;
 
  explicit LegendEntry(const std::string &label = "Unknown",
                       const QPen &pen = QPen(Qt::black))
      : label(label), pen(pen) {}
};
 
class Environment;
class GNode;
 
class VisualizationView : public QGraphicsView {
  Q_OBJECT
 public:
  explicit VisualizationView(QGraphicsScene *scene, QWidget *parent = nullptr);
 
  ~VisualizationView() override;
 
 public slots:
  void showContextMenu(const QPoint &pos);
  void saveSvg();
  void savePng();
 
 protected:
  void wheelEvent(QWheelEvent *event) override;
 
 private:
  float _numScheduledScalings;
  QGraphicsScene *_scene;
};
 
class QtVisualizer {
 public:
  static void initialize();
  static int exec();
  static void show() {
    //    QtVisualizer::drawLegend();
    _window->showMaximized();
  }
 
  static void visualize(Environment *environment, int run,
                        bool renderDistances = false);
 
  static void drawNode(const ompl::base::State *state,
                       const QColor &color = Qt::red, double radius = 0.3,
                       bool drawArrow = true);
  static void drawNode(const Point &point, const QColor &color = Qt::red,
                       double radius = 0.3);
  static void drawNode(double x, double y, const QColor &color = Qt::red,
                       double radius = 0.3);
  static void drawNode(double x, double y, double theta, const QColor &color,
                       double radius, bool drawArrow);
 
  static void drawTrajectory(const ompl::geometric::PathGeometric &path,
                             const QColor &color = Qt::white,
                             float penWidth = 1.f,
                             Qt::PenStyle penStyle = Qt::PenStyle::SolidLine);
  static void drawTrajectory(const ompl::base::State *a,
                             const ompl::base::State *b,
                             const QColor &color = Qt::white,
                             float penWidth = 1.f,
                             Qt::PenStyle penStyle = Qt::PenStyle::SolidLine);
  static void drawPath(const ompl::geometric::PathGeometric &path,
                       const QColor &color = Qt::white, float penWidth = 1.f,
                       Qt::PenStyle penStyle = Qt::PenStyle::SolidLine);
  static void drawPath(const std::vector<Point> &nodes,
                       const QColor &color = Qt::white, float penWidth = 1.f,
                       Qt::PenStyle penStyle = Qt::PenStyle::SolidLine);
  static void drawPath(const std::vector<Point> &nodes, QPen pen);
  static void drawNodes(ompl::geometric::PathGeometric path,
                        bool drawArrows = false, const QColor &color = Qt::red,
                        double radius = 0.3);
  static void drawNodes(const std::vector<Point> &nodes,
                        const QColor &color = Qt::red, double radius = 0.3);
 
  static void drawLabel(const std::string &text, double x, double y,
                        const QColor &color = Qt::black, float size = 1.f);
 
  static void addLegendEntry(LegendEntry entry);
 
  static void drawLegend();
 
  static void showStartGoal(bool show = true);
 
  static void savePng(const QString &fileName);
  static void saveSvg(const QString &fileName);
 
  static void saveScene();
  static void restoreScene();
 
  virtual ~QtVisualizer();
 
 private:
  QtVisualizer() = default;
 
  static VisualizationView *_view;
  static QApplication *_app;
  static QMainWindow *_window;
  static QGraphicsScene *_scene;
 
  static std::vector<LegendEntry> _legend;
 
  static bool _showStartGoal;
 
  static std::list<QGraphicsItem *> _storedItems;
};