Click to show position.

env/frame1.json

 {
 	"type" : "scene",
 	"algo" : {
-		"dx" : 0.25,
-		"dy" : 0.25
+		"dx" : 0.5,
+		"dy" : 0.5
 	},
 	"boundary" : {
 		"height" : 15.0,

form/MainWindow.cpp

@@ -29,10 +29,9 @@ MainWindow::MainWindow() {
     scaleFactor = 10;
     viewPadding = 5;
 
-    widget.textEdit->setText("CCS algorithm v0.1");
+    widget.textEdit->setText("CCS algorithm v0.3");
     initThread();
     QObject::connect(widget.actionOpen, SIGNAL(triggered()), this, SLOT(startThread()), Qt::DirectConnection);
-    QObject::connect(widget.graphicsView, SIGNAL(mousePositionSignal(double, double)), this, SLOT(mousePressed(double, double)), Qt::DirectConnection);
 }
 
 MainWindow::~MainWindow() {
@@ -161,7 +160,3 @@ void MainWindow::drawPoint(const QPointF& p) {
 
     scene->addEllipse(point, Qt::NoPen, purpleBrush);
 }
\ No newline at end of file
-
-void MainWindow::mousePressed(double x, double y) {
-    writeLog(QString("(%1,%2)").arg(QString::number(x / scaleFactor, 'f')).arg(QString::number(y / scaleFactor, 'f')));
-}

form/MainWindow.h

@@ -42,7 +42,6 @@ private:
 
 private slots:
     void startThread();
-    void mousePressed(double x, double y);
 };
 
 #endif	/* _MAINWINDOW_H */

form/MyGraphicsView.cpp

@@ -8,11 +8,25 @@
 #include "MyGraphicsView.h"
 #include <QPointF>
 #include <QMouseEvent>
+#include <QString>
 
 MyGraphicsView::MyGraphicsView(QWidget *parent) : QGraphicsView(parent) {
+    positionText = new QGraphicsTextItem();
+    QTransform tf;
+    tf.scale(0.5,-0.5);
+    positionText->setTransform(tf);
 }
 
 void MyGraphicsView::mousePressEvent(QMouseEvent* e) {
     QPointF p = mapToScene(e->pos());
-    emit mousePositionSignal(p.x(), p.y());
+    QString posString = QString("(%1;%2)").arg(QString::number(p.x() / 10, 'f', 2)).arg(QString::number(p.y() / 10, 'f', 2));
+    positionText->setPlainText(posString);
+    p.setY(p.y()+10);
+    p.setX(p.x() - positionText->boundingRect().width() / 4);
+    positionText->setPos(p);
+    scene()->addItem(positionText);
+}
+
+void MyGraphicsView::mouseReleaseEvent(QMouseEvent* /*e*/) {
+    scene()->removeItem(positionText);
 }

form/MyGraphicsView.h

@@ -10,19 +10,19 @@
 
 #include <QGraphicsView>
 #include <QGraphicsScene>
+#include <QGraphicsTextItem>
 
 class MyGraphicsView : public QGraphicsView {
     Q_OBJECT
 public:
     explicit MyGraphicsView(QWidget *parent = 0);
 
-signals:
-    void mousePositionSignal(double x, double y);
-
 public slots:
     void mousePressEvent(QMouseEvent * e);
+    void mouseReleaseEvent(QMouseEvent * e);
 private:
-    QGraphicsScene * scene;
+    //QGraphicsScene * scene;
+    QGraphicsTextItem * positionText;
 };
 
 #endif	/* MYGRAPHICSVIEW_H */

planner/LocalPlanner.cpp

@@ -23,11 +23,13 @@ LocalPlanner::LocalPlanner(ARM& arm, Configuration& goal, double nextDist, Scene
                     middleSegments.push_back(middleArcs[j]);
                     firstMiddleSegmentsMap.push_back(i);
                     // TODO harmadik szegmens hozzáadása
+                    // calculate_2nd...m:47
                 }
             }
         }
     }
     //local_planner.m:116
+    
 }
 
 arcList LocalPlanner::getTangentArcs(Configuration& middle, Configuration& goal) {
@@ -37,7 +39,7 @@ arcList LocalPlanner::getTangentArcs(Configuration& middle, Configuration& goal)
     Line middleLine(middle);
     Point intersection;
     Point projection = goalLine.getProjection(middle.position);
-    if (!goalLine.isIntersect(middle, intersection) || Point::distance(intersection, middle.position) > 1e4) {
+    if (!goalLine.isIntersect(middleLine, intersection) || Point::distance(intersection, middle.position) > 1e4) {
         /* Configurations are parallel */
         double r = Point::distance(middle.position, projection);
         if (r < 0.001) {

planner/PlannerThread.cpp

@@ -11,6 +11,7 @@
 #include "misc.h"
 #include "Preplanner.h"
 #include "ARMBuilder.h"
+#include "LocalPlanner.h"
 
 #include <QPointF>
 #include <QJsonArray>
@@ -132,6 +133,9 @@ void PlannerThread::run() {
     _writeLog("ARM created.");
     _drawARM(arm.getARM());
     
+    //LocalPlanner lp(arm.getARM(), config[config.size()-1], 0, sc);
+    //_writeLog("LocalPlanner stage 1");
+
     std::ostringstream stringStream;
     stringStream << "Runtime: " << clock() - start_clock << "ms";
     _writeLog(stringStream.str());