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CVectorField2D.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 
10 #ifndef opengl_CVectorField2D_H
11 #define opengl_CVectorField2D_H
12 
15 #include <mrpt/math/CMatrix.h>
16 
17 namespace mrpt
18 {
19  namespace opengl
20  {
21  // This must be added to any CSerializable derived class:
22  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CVectorField2D, CRenderizableDisplayList, OPENGL_IMPEXP )
23 
24  /** A 2D vector field representation, consisting of points and arrows drawn on a plane (invisible grid).
25  * \sa opengl::COpenGLScene
26  *
27  * <div align="center">
28  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
29  * <tr> <td> mrpt::opengl::CVectorField2D </td> <td> \image html preview_CVectorField2D.png </td> </tr>
30  * </table>
31  * </div>
32  *
33  * \ingroup mrpt_opengl_grp
34  */
35 
37  {
39  protected:
40  mrpt::math::CMatrix xcomp; //!< X component of the vector field
41  mrpt::math::CMatrix ycomp; //!< Y component of the vector field
42 
43  float xMin,xMax,yMin,yMax; //!< Grid bounds
44  float m_LineWidth; //!< By default is 1.0
45  float m_pointSize; //!< By default is 1.0
46  bool m_antiAliasing; //!< By default is true
47 
48  mrpt::utils::TColor m_point_color;
49  mrpt::utils::TColor m_field_color;
50 
51  public:
52  /**
53  * Clear the matrices
54  */
55  inline void clear() {
56  xcomp.resize(0,0);
57  ycomp.resize(0,0);
59  }
60 
61  /**
62  * Set the point color in the range [0,1]
63  */
64  inline void setPointColor( const float R, const float G, const float B, const float A = 1)
65  {
66  m_point_color = mrpt::utils::TColor(R*255,G*255,B*255,A*255);
68  }
69 
70  /**
71  * Get the point color in the range [0,1]
72  */
73  inline mrpt::utils::TColorf getPointColor() const { return mrpt::utils::TColorf(m_point_color); }
74 
75  /**
76  * Set the arrow color in the range [0,1]
77  */
78  inline void setVectorFieldColor( const float R, const float G, const float B, const float A = 1)
79  {
80  m_field_color = mrpt::utils::TColor(R*255,G*255,B*255,A*255);
82  }
83 
84  /**
85  * Get the arrow color in the range [0,1]
86  */
87  inline mrpt::utils::TColorf getVectorFieldColor() const { return mrpt::utils::TColorf(m_field_color); }
88 
89  /**
90  * Set the size with which points will be drawn. By default 1.0
91  */
92  inline void setPointSize(const float p) { m_pointSize=p; CRenderizableDisplayList::notifyChange(); }
93 
94  /**
95  * Get the size with which points are drawn. By default 1.0
96  */
97  inline float getPointSize() const { return m_pointSize; }
98 
99  /**
100  * Set the width with which lines will be drawn.
101  */
102  inline void setLineWidth(const float w) { m_LineWidth = w; CRenderizableDisplayList::notifyChange(); }
103 
104  /**
105  * Get the width with which lines are drawn.
106  */
107  float getLineWidth() const {
108  return m_LineWidth;
109  }
110 
111  /**
112  * Set the coordinates of the grid on where the vector field will be drawn by setting its center and the cell size.
113  * The number of cells is marked by the content of xcomp and ycomp.
114  * \sa xcomp, ycomp
115  */
116  void setGridCenterAndCellSize(const float center_x, const float center_y, const float cellsize_x, const float cellsize_y)
117  {
118  xMin = center_x - 0.5*cellsize_x*(xcomp.getColCount()-1);
119  xMax = center_x + 0.5*cellsize_x*(xcomp.getColCount()-1);
120  yMin = center_y - 0.5*cellsize_y*(xcomp.getRowCount()-1);
121  yMax = center_y + 0.5*cellsize_y*(xcomp.getRowCount()-1);
123  }
124 
125  /**
126  * Set the coordinates of the grid on where the vector field will be drawn using x-y max and min values.
127  */
128  void setGridLimits(const float xmin,const float xmax, const float ymin, const float ymax)
129  {
130  xMin=xmin; xMax = xmax;
131  yMin=ymin; yMax = ymax;
133  }
134 
135  /**
136  * Get the coordinates of the grid on where the vector field is drawn using the max and min values.
137  */
138  void getGridLimits(float &xmin,float &xmax, float &ymin, float &ymax) const
139  {
140  xmin=xMin; xmax=xMax;
141  ymin=yMin; ymax=yMax;
142  }
143 
144  /**
145  * Get the vector field. Matrix_x stores the "x" component and Matrix_y stores the "y" component.
146  */
148  Matrix_x = xcomp;
149  Matrix_y = ycomp;
150  }
151 
152  /** Get the "x" component of the vector field, as a matrix where each entry represents a point in the 2D grid. */
153  inline const mrpt::math::CMatrixFloat & getVectorField_x() const { return xcomp; }
154  /** \overload */
155  inline mrpt::math::CMatrixFloat & getVectorField_x() { return xcomp; }
156 
157  /** Get the "y" component of the vector field, as a matrix where each entry represents a point in the 2D grid. */
158  inline const mrpt::math::CMatrixFloat & getVectorField_y() const { return ycomp; }
159  /** \overload */
160  inline mrpt::math::CMatrixFloat & getVectorField_y() { return ycomp; }
161 
162  /**
163  * Set the vector field. Matrix_x contains the "x" component and Matrix_y contains the "y" component.
164  */
166  ASSERT_((Matrix_x.getRowCount() == Matrix_y.getRowCount())&&(Matrix_x.getColCount() == Matrix_y.getColCount()))
167  xcomp = Matrix_x;
168  ycomp = Matrix_y;
170  }
171 
172  /**
173  * Adjust the vector field in the scene (vectors magnitude) according to the grid size.
174  */
175  void adjustVectorFieldToGrid();
176 
177  /** Resizes the set.
178  */
179  void resize(size_t rows, size_t cols) {
180  xcomp.resize(rows, cols);
181  ycomp.resize(rows, cols);
183  }
184 
185  /** Returns the total count of rows used to represent the vector field. */
186  inline size_t getColCount() const { return xcomp.getColCount(); }
187 
188  /** Returns the total count of columns used to represent the vector field. */
189  inline size_t getRowCount() const { return xcomp.getRowCount(); }
190 
191  /**
192  * Class factory
193  */
194  static CVectorField2DPtr Create(const mrpt::math::CMatrixFloat &Matrix_x, const mrpt::math::CMatrixFloat &Matrix_y, float xmin=-1, float xmax=1, float ymin=-1, float ymax=1);
195  /** Render
196  */
197  void render_dl() const MRPT_OVERRIDE;
198 
199 
200  /** Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. */
201  void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE;
202 
203  void enableAntiAliasing(bool enable=true) { m_antiAliasing = enable; CRenderizableDisplayList::notifyChange(); }
204  bool isAntiAliasingEnabled() const { return m_antiAliasing; }
205 
206  private:
207  /** Constructor */
208  CVectorField2D();
209  /** Constructor with a initial set of lines. */
210  CVectorField2D( mrpt::math::CMatrixFloat Matrix_x, mrpt::math::CMatrixFloat Matrix_y, float xmin=-1, float xmax=1, float ymin=-1, float ymax=1);
211  /** Private, virtual destructor: only can be deleted from smart pointers. */
212  virtual ~CVectorField2D() { }
213  };
214  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CVectorField2D, CRenderizableDisplayList, OPENGL_IMPEXP )
215 
216 
217  } // end namespace
218 
219 } // End of namespace
220 
221 
222 #endif
virtual ~CVectorField2D()
Private, virtual destructor: only can be deleted from smart pointers.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
float getPointSize() const
Get the size with which points are drawn.
mrpt::utils::TColorf getPointColor() const
Get the point color in the range [0,1].
GLubyte GLubyte GLubyte GLubyte w
Definition: glew.h:1797
float getLineWidth() const
Get the width with which lines are drawn.
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
void getVectorField(mrpt::math::CMatrixFloat &Matrix_x, mrpt::math::CMatrixFloat &Matrix_y) const
Get the vector field.
void clear()
Clear the contents of this container.
Definition: ts_hash_map.h:113
A renderizable object suitable for rendering with OpenGL's display lists.
void setPointSize(const float p)
Set the size with which points will be drawn.
#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...
void resize(size_t rows, size_t cols)
Resizes the set.
A RGB color - 8bit.
Definition: TColor.h:26
const mrpt::math::CMatrixFloat & getVectorField_y() const
Get the "y" component of the vector field, as a matrix where each entry represents a point in the 2D ...
size_t getRowCount() const
Returns the total count of columns used to represent the vector field.
void setGridLimits(const float xmin, const float xmax, const float ymin, const float ymax)
Set the coordinates of the grid on where the vector field will be drawn using x-y max and min values...
GLfloat GLfloat p
Definition: glew.h:10113
A 2D vector field representation, consisting of points and arrows drawn on a plane (invisible grid)...
void setLineWidth(const float w)
Set the width with which lines will be drawn.
size_t getColCount() const
Returns the total count of rows used to represent the vector field.
mrpt::math::CMatrixFloat & getVectorField_y()
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void setGridCenterAndCellSize(const float center_x, const float center_y, const float cellsize_x, const float cellsize_y)
Set the coordinates of the grid on where the vector field will be drawn by setting its center and the...
const float R
void setPointColor(const float R, const float G, const float B, const float A=1)
Set the point color in the range [0,1].
mrpt::utils::TColorf getVectorFieldColor() const
Get the arrow color in the range [0,1].
const mrpt::math::CMatrixFloat & getVectorField_x() const
Get the "x" component of the vector field, as a matrix where each entry represents a point in the 2D ...
#define ASSERT_(f)
A RGB color - floats in the range [0,1].
Definition: TColor.h:80
void setVectorField(mrpt::math::CMatrixFloat &Matrix_x, mrpt::math::CMatrixFloat &Matrix_y)
Set the vector field.
void getGridLimits(float &xmin, float &xmax, float &ymin, float &ymax) const
Get the coordinates of the grid on where the vector field is drawn using the max and min values...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
void setVectorFieldColor(const float R, const float G, const float B, const float A=1)
Set the arrow color in the range [0,1].
mrpt::math::CMatrixFloat & getVectorField_x()



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