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CGridPlaneXY.cpp
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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 
10 #include "opengl-precomp.h" // Precompiled header
11 
13 #include <mrpt/utils/CStream.h>
14 
15 #include "opengl_internals.h"
16 
17 using namespace mrpt;
18 using namespace mrpt::opengl;
19 using namespace mrpt::utils;
20 using namespace std;
21 
23 
24 CGridPlaneXYPtr CGridPlaneXY::Create(
25  float xMin,
26  float xMax,
27  float yMin,
28  float yMax,
29  float z,
30  float frequency,
31  float lineWidth,
32  bool antiAliasing)
33 {
34  return CGridPlaneXYPtr( new CGridPlaneXY(xMin,xMax,yMin,yMax, z, frequency,lineWidth,antiAliasing ) );
35 }
36 /** Constructor */
38  float xMin,
39  float xMax,
40  float yMin,
41  float yMax,
42  float z,
43  float frequency,
44  float lineWidth,
45  bool antiAliasing
46  ) :
47  m_xMin(xMin),
48  m_xMax(xMax),
49  m_yMin(yMin),
50  m_yMax(yMax),
51  m_plane_z(z),
52  m_frequency(frequency),
53  m_lineWidth(lineWidth),
54  m_antiAliasing(antiAliasing)
55 {
56 }
57 
58 /*---------------------------------------------------------------
59  render_dl
60  ---------------------------------------------------------------*/
62 {
63 #if MRPT_HAS_OPENGL_GLUT
65 
66  // Enable antialiasing:
67  if (m_antiAliasing)
68  {
73  }
75 
76  glDisable(GL_LIGHTING); // Disable lights when drawing lines
78 
79  for (float y=m_yMin;y<=m_yMax;y+=m_frequency)
80  {
83  }
84 
85  for (float x=m_xMin;x<=m_xMax;x+=m_frequency)
86  {
89  }
90 
91  glEnd();
93 
94  // End antialiasing:
95  if (m_antiAliasing)
96  {
97  glPopAttrib();
99  }
100 #endif
101 }
102 
103 /*---------------------------------------------------------------
104  Implements the writing to a CStream capability of
105  CSerializable objects
106  ---------------------------------------------------------------*/
108 {
109 
110  if (version)
111  *version = 1;
112  else
113  {
114  writeToStreamRender(out);
115  out << m_xMin << m_xMax;
116  out << m_yMin << m_yMax << m_plane_z;
117  out << m_frequency;
118  out << m_lineWidth << m_antiAliasing; // v1
119  }
120 }
121 
122 /*---------------------------------------------------------------
123  Implements the reading from a CStream capability of
124  CSerializable objects
125  ---------------------------------------------------------------*/
127 {
128 
129  switch(version)
130  {
131  case 0:
132  case 1:
133  {
135  in >> m_xMin >> m_xMax;
136  in >> m_yMin >> m_yMax >> m_plane_z;
137  in >> m_frequency;
138  if (version>=1)
139  in >> m_lineWidth >> m_antiAliasing;
140  else
141  {
142  m_lineWidth=1.0f;
143  m_antiAliasing=true;
144  }
145 
146  } break;
147  default:
149 
150  };
152 }
153 
155 {
156  bb_min.x = m_xMin;
157  bb_min.y = m_yMin;
158  bb_min.z = 0;
159 
160  bb_max.x = m_xMax;
161  bb_max.y = m_yMax;
162  bb_max.z = 0;
163 
164  // Convert to coordinates of my parent:
165  m_pose.composePoint(bb_min, bb_min);
166  m_pose.composePoint(bb_max, bb_max);
167 }
GLint GLint GLint GLint GLint GLint y
Definition: glew.h:1166
A grid of lines over the XY plane.
Definition: CGridPlaneXY.h:35
virtual void render_dl() const MRPT_OVERRIDE
Render.
GLAPI void GLAPIENTRY glEnable(GLenum cap)
#define IMPLEMENTS_SERIALIZABLE(class_name, base, NameSpace)
This must be inserted in all CSerializable classes implementation files.
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
#define GL_ONE_MINUS_SRC_ALPHA
Definition: glew.h:283
double z
X,Y,Z coordinates.
GLAPI void GLAPIENTRY glPopAttrib(void)
#define GL_LIGHTING
Definition: glew.h:381
void writeToStream(mrpt::utils::CStream &out, int *getVersion) const
Introduces a pure virtual method responsible for writing to a CStream.
GLAPI void GLAPIENTRY glLineWidth(GLfloat width)
mrpt::poses::CPose3D m_pose
6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation m...
Definition: CRenderizable.h:55
GLuint in
Definition: glew.h:7146
GLAPI void GLAPIENTRY glBlendFunc(GLenum sfactor, GLenum dfactor)
A renderizable object suitable for rendering with OpenGL's display lists.
#define GL_COLOR_BUFFER_BIT
Definition: glew.h:261
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:38
#define GL_LINE_SMOOTH
Definition: glew.h:363
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
void readFromStreamRender(mrpt::utils::CStream &in)
void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE
Evaluates the bounding box of this object (including possible children) in the coordinate frame of th...
GLint GLint GLint GLint GLint x
Definition: glew.h:1166
int version
Definition: mrpt_jpeglib.h:898
GLAPI void GLAPIENTRY glBegin(GLenum mode)
#define GL_BLEND
Definition: glew.h:428
void writeToStreamRender(utils::CStream &out) const
GLAPI void GLAPIENTRY glVertex3f(GLfloat x, GLfloat y, GLfloat z)
CGridPlaneXY(float xMin=-10, float xMax=10, float yMin=-10, float yMax=10, float z=0, float frequency=1, float lineWidth=1.3f, bool antiAliasing=true)
Constructor.
#define GL_SRC_ALPHA
Definition: glew.h:282
void composePoint(double lx, double ly, double lz, double &gx, double &gy, double &gz, mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *out_jacobian_df_dpoint=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *out_jacobian_df_dpose=NULL, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *out_jacobian_df_dse3=NULL, bool use_small_rot_approx=false) const
An alternative, slightly more efficient way of doing with G and L being 3D points and P this 6D pose...
Definition: CPose3D.cpp:427
static void checkOpenGLError()
Checks glGetError and throws an exception if an error situation is found.
GLdouble GLdouble z
Definition: glew.h:1464
GLAPI void GLAPIENTRY glPushAttrib(GLbitfield mask)
#define ASSERT_(f)
GLAPI void GLAPIENTRY glEnd(void)
#define GL_LINES
Definition: glew.h:269
void readFromStream(mrpt::utils::CStream &in, int version)
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly...
Lightweight 3D point.
GLAPI void GLAPIENTRY glDisable(GLenum cap)
#define GL_LINE_BIT
Definition: glew.h:249



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