Merge pull request #136 from godardma/master

vehicles : correcting scaling bug and added binding for python API
ENSTABretagneRobotics · Nov 6, 2024 · 54ce334 · 54ce334
2 parents a32e570 + 862f215
commit 54ce334
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Showing 3 changed files with 36 additions and 16 deletions.
diff --git a/client-api/python/vibes/example.py b/client-api/python/vibes/example.py
@@ -57,7 +57,7 @@
 
 vibes.drawPolygon([[1,1], [1,4], [5,2], [5, 1]])
 vibes.setFigureProperties({'viewbox':'equal'})
-vibes.drawAUV(5,3, 1, 2, color='blue[yellow]',name='auv1',LineStyle="..",LineWidth="0.3")
+vibes.drawAUV(5,3,1,2, color='blue[yellow]',name='auv1',LineStyle="..",LineWidth="0.3")
 vibes.drawBox(2,4,4,7,color='red[yellow]', figure='test', name='box1',LineStyle="-..",LineWidth="0.1")
 vibes.drawArrow((0,0), (1,1), 0.1, color='[b]', name='arrow1')
 

diff --git a/client-api/python/vibes/vibes.py b/client-api/python/vibes/vibes.py
@@ -386,6 +386,26 @@ def drawAUV(cls, cx, cy, oritentation, length, color='r', **kwargs):
               }
         cls._write(msg, **kwargs)
 
+    @classmethod
+    def drawTank(cls, cx, cy, oritentation, length, color='r', **kwargs):
+        """Draw a tank centered at (cx, cy) with heading <heading> and size length
+
+        Args:
+            cx,cy  (double): position of the tank
+            heading  (double): heading of the vehicle in degree
+            lenght (double): length of the vehicle
+
+        """
+        msg = {'action': 'draw',
+               'shape': {'type': 'vehicle_tank',
+                         'center': [cx, cy],
+                         'length': length,
+                         'orientation': oritentation,
+                         'format': color
+                         }
+              }
+        cls._write(msg, **kwargs)
+
     @classmethod
     def drawPie(cls, center, rho, theta, color='r', use_radian=False, **kwargs):
         """Draw a Pie centered at <center> with raduis in <rho> and angle in <theta>

diff --git a/viewer/vibesgraphicsitem.cpp b/viewer/vibesgraphicsitem.cpp
@@ -1056,9 +1056,9 @@ bool VibesGraphicsVehicle::computeProjection(int dimX, int dimY)
 
         // Set polygon shape
         QPolygonF polygon;
-        polygon << QPointF(-1. * length, 1. * length) + centerPoint;
-        polygon << QPointF(+3. * length, 0. * length) + centerPoint;
-        polygon << QPointF(-1. * length, -1. * length) + centerPoint;
+        polygon << QPointF(-1., 1.) + centerPoint;
+        polygon << QPointF(+3., 0.) + centerPoint;
+        polygon << QPointF(-1., -1.) + centerPoint;
 
 
         // Draw with the new properties
@@ -1147,24 +1147,24 @@ bool VibesGraphicsVehicleAUV::computeProjection(int dimX, int dimY)
             graphics_polygon->setBrush(brush);
             graphics_polygon->setTransformOriginPoint(centerPoint);
             graphics_polygon->setRotation(orientation);
-            graphics_polygon->setScale(length / 7.); // initial vehicle's length is 4
+            graphics_polygon->setScale(length / 7.); // initial vehicle's length is 7
         }
     }
     // Else draw the shape for the first time
     else{
         // Set body shape
         {
             QPolygonF body;
-            body << QPointF(-4. * length, 0. * length) + centerPoint;
-            body << QPointF(-2. * length, 1. * length) + centerPoint;
-            body << QPointF(2. * length, 1. * length) + centerPoint;
+            body << QPointF(-4., 0.) + centerPoint;
+            body << QPointF(-2., 1.) + centerPoint;
+            body << QPointF(2., 1.) + centerPoint;
 
             for (float i = 90.; i > -90.; i -= 10.) // noise
-                body << QPointF((cos(i * M_PI / 180.0) + 2.) * length,
-                                (sin(i * M_PI / 180.0) + 0.) * length) + centerPoint;
+                body << QPointF((cos(i * M_PI / 180.0) + 2.),
+                                (sin(i * M_PI / 180.0) + 0.)) + centerPoint;
 
-            body << QPointF(2. * length, -1. * length) + centerPoint;
-            body << QPointF(-2. * length, -1. * length) + centerPoint;
+            body << QPointF(2., -1.) + centerPoint;
+            body << QPointF(-2., -1.) + centerPoint;
 
 
             // Draw with the new properties
@@ -1181,10 +1181,10 @@ bool VibesGraphicsVehicleAUV::computeProjection(int dimX, int dimY)
         // Set propulsion unit shape
         {
             QPolygonF propunit;
-            propunit << QPointF(-4. * length, 1 * length) + centerPoint;
-            propunit << QPointF(-3.25 * length, 1 * length) + centerPoint;
-            propunit << QPointF(-3.25 * length, -1 * length) + centerPoint;
-            propunit << QPointF(-4. * length, -1 * length) + centerPoint;
+            propunit << QPointF(-4., 1) + centerPoint;
+            propunit << QPointF(-3.25, 1) + centerPoint;
+            propunit << QPointF(-3.25, -1) + centerPoint;
+            propunit << QPointF(-4., -1) + centerPoint;
 
             // Draw with the new properties
             QGraphicsPolygonItem *graphics_propunit = new QGraphicsPolygonItem(propunit);