draw.h

利用极坐标系统对机器人所携带的激光传感器所测得的数据进行匹配

/***************************************************************************
                          draw.h  -  simplistic drawing module
                             -------------------
    begin                : Sun Dec 21 2003
    version              : 0.1
    copyright            : (C) 2005 by Albert Diosi and Lindsay Kleeman
    email                : [e-mail]
    change:               -14/03/2005 rewriting to use only X, instead of libplot
                          -25/01/2005 dr_cov_ellipse added
                          -8/11/2004  dr_zoom added
 ***************************************************************************/
 /****************************************************************************
    This file is part of polar_matching.

    polar_matching 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.

    polar_matching 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 polar_matching; if not, write to the Free Software
    Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
****************************************************************************/


#ifndef _DRAW_
#define _DRAW_
extern "C" char* dr_COLORS[];//array of colors
extern "C" int   dr_COLORS_CNT;//number of colors

extern "C" void dr_init(int screen_x_max,int screen_y_max,double xmin, double ymin, double xmax, double ymax);
extern "C" void dr_close(void);
extern "C" void dr_line(double x1, double y1, double x2, double y2,char *color);
extern "C" void dr_marker(double x, double y, int type,char *color);
extern "C" void dr_text(double x, double y, int hz_al,int vr_al,char *text, char* color);
extern "C" void dr_text_pix(int px, int py,char *text, char* color);
extern "C" void dr_scale(double xmin, double ymin, double xmax, double ymax);
extern "C" void dr_replot(void);
extern "C" void dr_erase(void);
extern "C" void dr_circle(double x, double y, double r,char *color);
extern "C" void dr_cov_ellipse(double x, double y, double c11,double c12,double c22,char *color);
extern "C" void dr_zoom(void);//interactive zooming until enter is hit
extern "C" void dr_fit(void);//scale so that everything fits
extern "C" void dr_save(char *filename);//save screen into a png file
extern "C" void dr_equal(int equal);//true,1 -> equal axes, false->non equal axes
#endif