draw_cbln_dtm.H

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// Copyright (C) 2004 University of Louisiana at Lafayette
// Authors: Suresh Golconda, Nitin, Arun Pratap

#ifndef CAJUN_DRAW_CBLN_DTM_H
#define CAJUN_DRAW_CBLN_DTM_H

#include "data_queue.H"
#include "cbviz_util.H"
#include "conf.H"
#include "component_interface.H"

namespace cajun
{
        class draw_cbln_dtm_t : public component_interface_t
        {
        public:
                draw_cbln_dtm_t (double cbviz_origin[3], conf_t &conf,
                                 world_state_t *ws_);
                virtual ~draw_cbln_dtm_t () {;};
                void update_data (double bot_pos_[3]);
                void display (double bot_pos[3]);
                void toggle_display () {m_display = !m_display;}
        private:
                cbln_dtm_data_t m_cbln_dtm;
                double m_grid_height;
                bool read_cbln_dtm ();
                double dtm_y_to_sim_y (int x, int y);
                double dtm_x_to_sim_x (int x, int y);
        };
}
#endif

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