lidar_view.h

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/*
 * @author Ethan Uppal
 * @copyright Copyright (C) 2024 Ethan Uppal. All rights reserved.
 */
 
#pragma once
 
#include <SDL.h>
#include <vector>
#include <sdlwrapper/gui/view.h>
#include <sdlwrapper/util/keyboard.h>
#include "icp/icp.h"
 
class LidarView final : public View {
    std::vector<icp::Vector> source;
    std::vector<icp::Vector> destination;
    std::unique_ptr<icp::ICP> icp;
    Keyboard keyboard;
    bool is_iterating;
    size_t iterations;
 
    void step();
 
public:
    LidarView(std::vector<icp::Vector> source, std::vector<icp::Vector> destination,
        const std::string method, const icp::ICP::Config& config = icp::ICP::Config());
 
    ~LidarView() noexcept override;
    void on_event(const SDL_Event& event) override;
    void draw(SDL_Renderer* renderer, const SDL_Rect* frame, double dtime) override;
};