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CArrow.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef opengl_CArrow_H
10 #define opengl_CArrow_H
11 
13 
14 namespace mrpt
15 {
16  namespace opengl
17  {
18 
19 
20  // This must be added to any CSerializable derived class:
21  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CArrow, CRenderizableDisplayList, OPENGL_IMPEXP )
22 
23  /** A 3D arrow
24  * \sa opengl::COpenGLScene
25  *
26  * <div align="center">
27  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
28  * <tr> <td> mrpt::opengl::CArrow </td> <td> \image html preview_CArrow.png </td> </tr>
29  * </table>
30  * </div>
31  * \ingroup mrpt_opengl_grp
32  *
33  */
35  {
37  protected:
38  mutable float m_x0,m_y0,m_z0;
39  mutable float m_x1,m_y1,m_z1;
40  float m_headRatio;
41  float m_smallRadius, m_largeRadius;
42  //For version 2 in stream
43  float m_arrow_roll;
44  float m_arrow_pitch;
45  float m_arrow_yaw;
46 
47  public:
48 
49  void setArrowEnds(float x0,float y0, float z0, float x1,float y1, float z1)
50  {
51  m_x0=x0; m_y0 = y0; m_z0=z0;
52  m_x1=x1; m_y1 = y1; m_z1=z1;
54  }
55  void setHeadRatio(float rat) { m_headRatio=rat; CRenderizableDisplayList::notifyChange(); }
56  void setSmallRadius(float rat) { m_smallRadius=rat; CRenderizableDisplayList::notifyChange(); }
57  void setLargeRadius(float rat) { m_largeRadius=rat; CRenderizableDisplayList::notifyChange(); }
58  void setArrowYawPitchRoll(float yaw,float pitch, float roll ) { m_arrow_yaw=yaw; m_arrow_pitch=pitch; m_arrow_roll=roll; CRenderizableDisplayList::notifyChange(); }
59 
60  /** Render
61  */
62  void render_dl() const MRPT_OVERRIDE;
63 
64  /** Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. */
65  void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE;
66 
67  /** Class factory */
68  static CArrowPtr Create(
69  float x0,float y0,float z0,
70  float x1,float y1,float z1,
71  float headRatio = 0.2f,float smallRadius = 0.05f,float largeRadius = 0.2f,
72  float arrow_roll = -1.0f,float arrow_pitch = -1.0f,float arrow_yaw = -1.0f);
73 
74  private:
75  /** Constructor
76  */
78  float x0 = 0,
79  float y0 = 0,
80  float z0 = 0,
81  float x1 = 1,
82  float y1 = 1,
83  float z1 = 1,
84  float headRatio = 0.2f,
85  float smallRadius = 0.05f,
86  float largeRadius = 0.2f,
87  float arrow_roll = -1.0f,
88  float arrow_pitch = -1.0f,
89  float arrow_yaw = -1.0f
90  ) :
91  m_x0(x0),m_y0(y0),m_z0(z0),
92  m_x1(x1),m_y1(y1),m_z1(z1),
93  m_headRatio(headRatio),
94  m_smallRadius(smallRadius),
95  m_largeRadius(largeRadius),
96  m_arrow_roll(arrow_roll),
97  m_arrow_pitch(arrow_pitch),
98  m_arrow_yaw(arrow_yaw)
99  {
100  }
101 
102  /** Private, virtual destructor: only can be deleted from smart pointers */
103  virtual ~CArrow() { }
104  };
105  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CArrow, CRenderizableDisplayList, OPENGL_IMPEXP )
106 
107 
108  } // end namespace
109 } // End of namespace
110 
111 #endif
void setLargeRadius(float rat)
Definition: CArrow.h:57
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
A renderizable object suitable for rendering with OpenGL's display lists.
void setSmallRadius(float rat)
Definition: CArrow.h:56
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
virtual ~CArrow()
Private, virtual destructor: only can be deleted from smart pointers.
Definition: CArrow.h:103
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void setArrowYawPitchRoll(float yaw, float pitch, float roll)
Definition: CArrow.h:58
void setHeadRatio(float rat)
Definition: CArrow.h:55
A 3D arrow.
Definition: CArrow.h:34
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
GLdouble GLdouble GLdouble GLdouble GLdouble GLdouble f
Definition: glew.h:5092



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