robot.h

#ifndef ROBOT_H
#define ROBOT_H

#include <QGraphicsItem>
#include <QGraphicsLineItem>
#include <QPainter>

#define ROBOT_SIZE_X 30 * 2
#define ROBOT_SIZE_Y 30 * 2
#define OFFSET_X 10
#define OFFSET_Y 0
#define SENSOR_SHORT_COUNT 6
#define SENSOR_LONG_COUNT 10

#define BEACON1_X 600 + OFFSET_X
#define BEACON1_Y 210 + OFFSET_Y
#define BEACON2_X 0 + OFFSET_X
#define BEACON2_Y 420 + OFFSET_Y
#define BEACON3_X 0 + OFFSET_X
#define BEACON3_Y 0 + OFFSET_Y

/*struct position {
        qreal x;
        qreal y;
        qreal angle;
};*/

class robot : public QGraphicsItem
{

//Q_OBJECT
public:
        QGraphicsScene *scene;
        robot(QGraphicsItem *parent = 0, QGraphicsScene *scene = 0);
        
        ~robot();
        //robotSensor *sens;
        QGraphicsLineItem *sensShort[SENSOR_SHORT_COUNT];
        QGraphicsLineItem *sensLong[SENSOR_LONG_COUNT];
        QGraphicsRectItem *robotBody;
        QGraphicsLineItem *beacons[3];
        QPoint *pCenter;
        QRectF boundingRect() const;
        void initBeacons();
        void setBeaconAngle(int,double);
        void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
        void rotateRobot (qreal angle);
        void sensorRange(qreal size, int sens_id);
        void moveRobot(double,double,double);
        char id;
        qreal actPhi;
};

#endif

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