LARS
LARS (Light Augmented Reality System) is an open-source framework for light-based interaction and real-time tracking in multi-robot experiments. Inspired by ARK, LARS extends the augmented reality paradigm to robotic collectives by projecting dynamic visual cues and environments onto the arena, enabling new experimental possibilities for collective robotics research, education, and outreach. LARS features integrated tracking, light projection, and modular experiment control with a user-friendly Qt GUI.
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RenderArea Class Reference
Inheritance diagram for RenderArea:

Public Slots

void refresh ()
 Refresh the RenderArea display.
void paintEvent (QPaintEvent *)
 Handles the paint event for the RenderArea widget.
void updatePainters ()
 Update painter objects (brushes, pens, gradients) to match current WorldModel state.
void updateGradientPainter ()
 Updates the gradient painter for the arena background, based on arena size and center.

Public Member Functions

 RenderArea (WorldModel *wm)
 Constructs a RenderArea widget for rendering graphical elements in the UI.

Protected Member Functions

int getMostCentralNode (const igraph_t &graph)
 Returns the index of the most central node in a graph (by degree centrality).

Constructor & Destructor Documentation

◆ RenderArea()

RenderArea::RenderArea ( WorldModel * wm)
explicit

Constructs a RenderArea widget for rendering graphical elements in the UI.

Initializes the RenderArea, setting up graphical assets, brushes, pens, and timers for periodic updates. Loads resources such as markers, logo, arena images, and custom brushes. Associates the provided WorldModel instance for access to rendering data. Also sets up gradients, pens, and event connections needed for UI drawing and updates.

Parameters
wmPointer to the WorldModel providing data and state for rendering.

Member Function Documentation

◆ getMostCentralNode()

int RenderArea::getMostCentralNode ( const igraph_t & graph)
protected

Returns the index of the most central node in a graph (by degree centrality).

Parameters
graphigraph_t object representing the network graph.
Returns
Index of the node with highest degree centrality.

◆ paintEvent

void RenderArea::paintEvent ( QPaintEvent * )
slot

Handles the paint event for the RenderArea widget.

Draws all relevant graphical elements including background, markers, images, robots, networks, and overlays. Uses current state of the WorldModel for data and configuration.

Parameters
eventPointer to the paint event (unused).

◆ refresh

void RenderArea::refresh ( )
slot

Refresh the RenderArea display.

Calls updatePainters() and schedules a repaint.


The documentation for this class was generated from the following files: