fixed problem with position of highlighting circle for markers

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.pro.user

 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.0.2, 2017-04-27T17:56:07. -->
+<!-- Written by QtCreator 4.0.2, 2017-05-02T17:57:24. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/marker.h

@@ -10,6 +10,7 @@
 #define HIGHLIGHT_DIAMETER     20
 #define HIGHLIGHT_WIDTH         5
 
+
 class Marker : public QGraphicsEllipseItem
 {
 public:

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp

@@ -68,7 +68,7 @@ void MainGUIWindow::_init()
 
     marker = new Marker(1 * FROM_METERS_TO_UNITS, 1 * FROM_METERS_TO_UNITS);
     // marker->setPos(0,0);
-    setPosMarker(0, 0);
+    setPosMarker(1, 1);
     // scene->addItem(marker);
 
     ui->graphicsView->setScene(scene);

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/marker.cpp

@@ -5,7 +5,7 @@
 
 
 Marker::Marker(qreal x, qreal y, QGraphicsItem * parent)
-    : QGraphicsEllipseItem(parent)
+    : QGraphicsEllipseItem(-MARKER_DIAMETER/2, - MARKER_DIAMETER/2, MARKER_DIAMETER, MARKER_DIAMETER, parent)
 {
     _highlighted = false;
     _highlight_diameter = HIGHLIGHT_DIAMETER;
@@ -15,9 +15,10 @@ Marker::Marker(qreal x, qreal y, QGraphicsItem * parent)
     _center_y = y;
 
     _diameter = MARKER_DIAMETER; // x and y are top left coordinates
-    _x = _center_x - _diameter/2;
-    _y = _center_y - _diameter/2;
-    this->setRect(QRectF(_x, _y, _diameter, _diameter));
+    this->setPos(_center_x, _center_y);          //where it is now, it is the center
+
+    _x_highlight = _center_x - _highlight_diameter/2; // update top-left corner coordinates of highlighing circle
+    _y_highlight = _center_y - _highlight_diameter/2;
     this->setPen(Qt::NoPen);
     this->setBrush(QColor(255, 0, 0));
     this->setZValue(10);        // max z value, should always be seen
@@ -26,37 +27,21 @@ Marker::Marker(qreal x, qreal y, QGraphicsItem * parent)
 void Marker::setPosMarker(QPointF new_p)
 {
     prepareGeometryChange();
+    this->setPos(_center_x, _center_y);
 
     _center_x = new_p.x();              // update center coordinates
     _center_y = new_p.y();
-
-    _x = _center_x - _diameter/2;
-    _y = _center_y - _diameter/2;
-
-    // this->setPos(_x, _y);       //update top-left corner coordinates
-    this->setRect(QRectF(_x, _y, _diameter, _diameter));
-    if(_highlighted)
-    {
-        _x_highlight = _center_x - _highlight_diameter/2; // update top-left corner coordinates of highlighing circle
-        _y_highlight = _center_y -_highlight_diameter/2;
-        // _highlight_circle->setPos(_x_highlight, _y_highlight);
-        _highlight_circle->setRect(QRectF(_x_highlight, _y_highlight, _highlight_diameter, _highlight_diameter));
-    }
 }
 
 void Marker::setHighlighted(void)
 {
     if(!_highlighted)
     {
-        _x_highlight = _center_x - _highlight_diameter/2;
-        _y_highlight = _center_y -_highlight_diameter/2;
-
         prepareGeometryChange();
-        _highlight_circle = new QGraphicsEllipseItem();
-        _highlight_circle->setRect(QRectF(_x_highlight, _y_highlight, _highlight_diameter, _highlight_diameter));
+        _highlight_circle = new QGraphicsEllipseItem(QRectF(-_highlight_diameter/2, -_highlight_diameter/2, _highlight_diameter, _highlight_diameter), this);
+        _highlight_circle->setPos(0, 0);
         _highlight_circle->setPen(QPen(QBrush(Qt::black), HIGHLIGHT_WIDTH));
-        _highlight_circle->setParentItem(this);
-        // _highlight_circle->setFlag(QGraphicsItem::ItemIgnoresTransformations);
+        _highlight_circle->setFlag(QGraphicsItem::ItemIgnoresTransformations);
         _highlighted = true;
     }
 }
@@ -82,6 +67,3 @@ Marker::~Marker()
 {
     clearHighlighted();
 }
-
-
-