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mrpt::opengl::CSetOfLines Class Reference

Detailed Description

A set of independent lines (or segments), one line with its own start and end positions (X,Y,Z).

Optionally, the vertices can be also shown as dots.

See Also
opengl::COpenGLScene
mrpt::opengl::CSetOfLines
preview_CSetOfLines.png

Definition at line 35 of file CSetOfLines.h.

#include <mrpt/opengl/CSetOfLines.h>

Inheritance diagram for mrpt::opengl::CSetOfLines:
Inheritance graph

Public Types

typedef std::vector
< mrpt::math::TSegment3D >
::iterator 
iterator
 Iterator to the set. More...
 
typedef std::vector
< mrpt::math::TSegment3D >
::reverse_iterator 
reverse_iterator
 Iterator to the set. More...
 
typedef std::vector
< mrpt::math::TSegment3D >
::const_iterator 
const_iterator
 Const iterator to the set. More...
 
typedef std::vector
< mrpt::math::TSegment3D >
::const_reverse_iterator 
const_reverse_iterator
 Const reverse iterator to the set. More...
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
void clear ()
 Clear the list of segments. More...
 
void setLineWidth (float w)
 Sets the width with which lines will be drawn. More...
 
float getLineWidth () const
 Gets the width with which lines are drawn. More...
 
float getVerticesPointSize () const
 
void setVerticesPointSize (const float size_points)
 Enable showing vertices as dots if size_points>0. More...
 
void appendLine (const mrpt::math::TSegment3D &sgm)
 Appends a line to the set. More...
 
void appendLine (float x0, float y0, float z0, float x1, float y1, float z1)
 Appends a line to the set, given the coordinates of its bounds. More...
 
void appendLineStrip (float x, float y, float z)
 Appends a line whose starting point is the end point of the last line (similar to OpenGL's GL_LINE_STRIP)

Exceptions
std::exceptionIf there is no previous segment.
More...
 
template<class U >
void appendLineStrip (const U &point)
 
template<class T >
void appendLines (const T &sgms)
 Appends any iterable collection of lines to the set. More...
 
template<class T_it >
void appendLines (const T_it &begin, const T_it &end)
 Appends certain amount of lines, located between two iterators, into the set. More...
 
void resize (size_t nLines)
 Resizes the set. More...
 
void reserve (size_t r)
 Reserves an amount of lines to the set. More...
 
template<class T , class U >
void appendLine (T p0, U p1)
 Inserts a line, given its bounds. More...
 
size_t getLineCount () const
 Returns the total count of lines in this set. More...
 
size_t size () const
 Returns the total count of lines in this set. More...
 
bool empty () const
 Returns true if there are no line segments. More...
 
void setLineByIndex (size_t index, const mrpt::math::TSegment3D &segm)
 Sets a specific line in the set, given its index. More...
 
void setLineByIndex (size_t index, double x0, double y0, double z0, double x1, double y1, double z1)
 Sets a specific line in the set, given its index. More...
 
void getLineByIndex (size_t index, double &x0, double &y0, double &z0, double &x1, double &y1, double &z1) const
 Gets a specific line in the set, given its index. More...
 
void render_dl () const MRPT_OVERRIDE
 Render. More...
 
const_iterator begin () const
 Beginning const iterator. More...
 
iterator begin ()
 
const_iterator end () const
 Ending const iterator. More...
 
iterator end ()
 
const_reverse_iterator rbegin () const
 Beginning const reverse iterator (actually, accesses the end of the set). More...
 
const_reverse_iterator rend () const
 Ending const reverse iterator (actually, refers to the starting point of the set). More...
 
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 the object parent. More...
 
void enableAntiAliasing (bool enable=true)
 
bool isAntiAliasingEnabled () const
 
CRenderizableDisplayListclone () const
 Interface for the stlplus smart pointer class. More...
 
void render () const MRPT_OVERRIDE
 Render the object, regenerating the display list if needed, otherwise just calling it. More...
 
virtual bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const
 Simulation of ray-trace, given a pose. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
Changes the appearance of the object to render (methods from CRenderizable that need to be redefined)
CRenderizablesetColorR_u8 (const uint8_t r) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColorG_u8 (const uint8_t g) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColorB_u8 (const uint8_t b) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColorA_u8 (const uint8_t a) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColor_u8 (const mrpt::utils::TColor &c) MRPT_OVERRIDE
 Changes the default object color. More...
 
CRenderizablesetColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
 Color components in the range [0,255]. More...
 
Changes the appearance of the object to render
void setName (const std::string &n)
 Changes the name of the object. More...
 
const std::stringgetName () const
 Returns the name of the object. More...
 
bool isVisible () const
 Is the object visible? More...
 
void setVisibility (bool visible=true)
 Set object visibility (default=true) More...
 
void enableShowName (bool showName=true)
 Enables or disables showing the name of the object as a label when rendering. More...
 
bool isShowNameEnabled () const
 
CRenderizablesetPose (const mrpt::poses::CPose3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPose2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose3D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose2D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPoint3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPoint2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
mrpt::math::TPose3D getPose () const
 Returns the 3D pose of the object as TPose3D. More...
 
const mrpt::poses::CPose3DgetPoseRef () const
 Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More...
 
CRenderizablesetLocation (double x, double y, double z)
 Changes the location of the object, keeping untouched the orientation. More...
 
CRenderizablesetLocation (const mrpt::math::TPoint3D &p)
 Changes the location of the object, keeping untouched the orientation. More...
 
double getPoseX () const
 Translation relative to parent coordinate origin. More...
 
double getPoseY () const
 Translation relative to parent coordinate origin. More...
 
double getPoseZ () const
 Translation relative to parent coordinate origin. More...
 
double getPoseYaw () const
 Rotation relative to parent coordinate origin, in DEGREES. More...
 
double getPosePitch () const
 Rotation relative to parent coordinate origin, in DEGREES. More...
 
double getPoseRoll () const
 Rotation relative to parent coordinate origin, in DEGREES. More...
 
double getPoseYawRad () const
 Rotation relative to parent coordinate origin, in radians. More...
 
double getPosePitchRad () const
 Rotation relative to parent coordinate origin, in radians. More...
 
double getPoseRollRad () const
 Rotation relative to parent coordinate origin, in radians. More...
 
double getColorR () const
 Color components in the range [0,1]. More...
 
double getColorG () const
 Color components in the range [0,1]. More...
 
double getColorB () const
 Color components in the range [0,1]. More...
 
double getColorA () const
 Color components in the range [0,1]. More...
 
uint8_t getColorR_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorG_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorB_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorA_u8 () const
 Color components in the range [0,255]. More...
 
CRenderizablesetColorR (const double r)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorG (const double g)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorB (const double b)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorA (const double a)
 Color components in the range [0,1]. More...
 
CRenderizablesetScale (float s)
 Scale to apply to the object, in all three axes (default=1) More...
 
CRenderizablesetScale (float sx, float sy, float sz)
 Scale to apply to the object in each axis (default=1) More...
 
float getScaleX () const
 Get the current scaling factor in one axis. More...
 
float getScaleY () const
 Get the current scaling factor in one axis. More...
 
float getScaleZ () const
 Get the current scaling factor in one axis. More...
 
mrpt::utils::TColorf getColor () const
 Returns the object color property as a TColorf. More...
 
CRenderizablesetColor (const mrpt::utils::TColorf &c)
 
CRenderizablesetColor (double R, double G, double B, double A=1)
 Set the color components of this object (R,G,B,Alpha, in the range 0-1) More...
 
const mrpt::utils::TColorgetColor_u8 () const
 Returns the object color property as a TColor. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static CSetOfLinesPtr Create (const std::vector< mrpt::math::TSegment3D > &sgms, const bool antiAliasing=true)
 Class factory. More...
 
static void renderTextBitmap (const char *str, void *fontStyle)
 This method is safe for calling from within ::render() methods. More...
 
static void renderTextBitmap (int screen_x, int screen_y, const std::string &str, float color_r=1, float color_g=1, float color_b=1, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
 Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods) More...
 
static int textBitmapWidth (const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
 Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap(). More...
 

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId 
classCObject
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCRenderizableDisplayList
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCRenderizable
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

Protected Member Functions

void writeToStreamRender (utils::CStream &out) const
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
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 be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 
Methods accesible or implemented by derived classes
EIGEN_STRONG_INLINE void notifyChange () const
 Must be called to notify that the object has changed (so, the display list must be updated) More...
 
virtual bool should_skip_display_list_cache () const
 Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases. More...
 
void readFromStreamRender (mrpt::utils::CStream &in)
 

Static Protected Member Functions

static void checkOpenGLError ()
 Checks glGetError and throws an exception if an error situation is found. More...
 
static unsigned int getNewTextureNumber ()
 Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool). More...
 
static void releaseTextureName (unsigned int i)
 

Protected Attributes

std::vector
< mrpt::math::TSegment3D
mSegments
 
float mLineWidth
 
bool m_antiAliasing
 
float m_verticesPointSize
 0: means hidden More...
 
std::string m_name
 
bool m_show_name
 
mrpt::utils::TColor m_color
 Color components in the range [0,255]. More...
 
mrpt::poses::CPose3D m_pose
 6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack. More...
 
float m_scale_x
 
float m_scale_y
 
float m_scale_z
 Scale components to apply to the object (default=1) More...
 
bool m_visible
 Is the object visible? (default=true) More...
 

Private Member Functions

 CSetOfLines ()
 Constructor. More...
 
 CSetOfLines (const std::vector< mrpt::math::TSegment3D > &sgms, bool antiAliasing=true)
 Constructor with a initial set of lines. More...
 
virtual ~CSetOfLines ()
 Private, virtual destructor: only can be deleted from smart pointers. More...
 

RTTI stuff

typedef CSetOfLinesPtr Ptr
 
typedef CSetOfLinesPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CSetOfLines
 
static mrpt::utils::TRuntimeClassId classCSetOfLines
 
static const
mrpt::utils::TRuntimeClassId
classinfo
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CSetOfLinesPtr Create ()
 

Member Typedef Documentation

Const iterator to the set.

Definition at line 173 of file CSetOfLines.h.

Const reverse iterator to the set.

Definition at line 177 of file CSetOfLines.h.

typedef CSetOfLinesPtr mrpt::opengl::CSetOfLines::ConstPtr

Definition at line 37 of file CSetOfLines.h.

Iterator to the set.

Definition at line 167 of file CSetOfLines.h.

typedef CSetOfLinesPtr mrpt::opengl::CSetOfLines::Ptr

A typedef for the associated smart pointer

Definition at line 37 of file CSetOfLines.h.

Iterator to the set.

Definition at line 168 of file CSetOfLines.h.

Constructor & Destructor Documentation

CSetOfLines::CSetOfLines ( )
private

Constructor.

Definition at line 31 of file CSetOfLines.cpp.

CSetOfLines::CSetOfLines ( const std::vector< mrpt::math::TSegment3D > &  sgms,
bool  antiAliasing = true 
)
private

Constructor with a initial set of lines.

Definition at line 37 of file CSetOfLines.cpp.

virtual mrpt::opengl::CSetOfLines::~CSetOfLines ( )
inlineprivatevirtual

Private, virtual destructor: only can be deleted from smart pointers.

Definition at line 221 of file CSetOfLines.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CSetOfLines::_GetBaseClass ( )
staticprotected
void mrpt::opengl::CSetOfLines::appendLine ( const mrpt::math::TSegment3D sgm)
inline
void mrpt::opengl::CSetOfLines::appendLine ( float  x0,
float  y0,
float  z0,
float  x1,
float  y1,
float  z1 
)
inline

Appends a line to the set, given the coordinates of its bounds.

Definition at line 77 of file CSetOfLines.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

template<class T , class U >
void mrpt::opengl::CSetOfLines::appendLine ( p0,
p1 
)
inline

Inserts a line, given its bounds.

Works with any pair of objects with access to x, y and z members.

Definition at line 131 of file CSetOfLines.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

template<class T >
void mrpt::opengl::CSetOfLines::appendLines ( const T &  sgms)
inline

Appends any iterable collection of lines to the set.

Note that this includes another CSetOfLines.

See Also
appendLine

Definition at line 99 of file CSetOfLines.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

template<class T_it >
void mrpt::opengl::CSetOfLines::appendLines ( const T_it &  begin,
const T_it &  end 
)
inline

Appends certain amount of lines, located between two iterators, into the set.

See Also
appendLine

Definition at line 107 of file CSetOfLines.h.

References begin(), and mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CSetOfLines::appendLineStrip ( float  x,
float  y,
float  z 
)
inline

Appends a line whose starting point is the end point of the last line (similar to OpenGL's GL_LINE_STRIP)

Exceptions
std::exceptionIf there is no previous segment.

Definition at line 84 of file CSetOfLines.h.

References ASSERT_, and empty().

Referenced by mrpt::nav::CPTG_RobotShape_Polygonal::add_robotShape_to_setOfLines(), mrpt::nav::CPTG_RobotShape_Circular::add_robotShape_to_setOfLines(), and mrpt::nav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine().

template<class U >
void mrpt::opengl::CSetOfLines::appendLineStrip ( const U &  point)
inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 90 of file CSetOfLines.h.

References ASSERT_, and empty().

const_iterator mrpt::opengl::CSetOfLines::begin ( ) const
inline

Beginning const iterator.

See Also
end,rbegin,rend

Definition at line 182 of file CSetOfLines.h.

iterator mrpt::opengl::CSetOfLines::begin ( )
inline
void CRenderizable::checkOpenGLError ( )
staticprotectedinherited
void mrpt::opengl::CSetOfLines::clear ( )
inline

Clear the list of segments.

Definition at line 47 of file CSetOfLines.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

CRenderizableDisplayList* mrpt::opengl::CRenderizableDisplayList::clone ( ) const
inlineinherited

Interface for the stlplus smart pointer class.

Definition at line 71 of file CRenderizableDisplayList.h.

static CSetOfLinesPtr mrpt::opengl::CSetOfLines::Create ( )
static
CSetOfLinesPtr CSetOfLines::Create ( const std::vector< mrpt::math::TSegment3D > &  sgms,
const bool  antiAliasing = true 
)
static

Class factory.

Definition at line 26 of file CSetOfLines.cpp.

static mrpt::utils::CObject* mrpt::opengl::CSetOfLines::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::opengl::CSetOfLines::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

bool mrpt::opengl::CSetOfLines::empty ( ) const
inline

Returns true if there are no line segments.

Definition at line 140 of file CSetOfLines.h.

void mrpt::opengl::CSetOfLines::enableAntiAliasing ( bool  enable = true)
inline
void mrpt::opengl::CRenderizable::enableShowName ( bool  showName = true)
inlineinherited

Enables or disables showing the name of the object as a label when rendering.

Definition at line 69 of file CRenderizable.h.

const_iterator mrpt::opengl::CSetOfLines::end ( ) const
inline

Ending const iterator.

See Also
begin,rend,rbegin

Definition at line 190 of file CSetOfLines.h.

iterator mrpt::opengl::CSetOfLines::end ( )
inline
void CSetOfLines::getBoundingBox ( mrpt::math::TPoint3D bb_min,
mrpt::math::TPoint3D bb_max 
) const
virtual

Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent.

Implements mrpt::opengl::CRenderizable.

Definition at line 187 of file CSetOfLines.cpp.

References mrpt::poses::CPose3D::composePoint(), mrpt::utils::keep_max(), mrpt::utils::keep_min(), mrpt::opengl::CRenderizable::m_pose, and mSegments.

mrpt::utils::TColorf mrpt::opengl::CRenderizable::getColor ( ) const
inlineinherited

Returns the object color property as a TColorf.

Definition at line 126 of file CRenderizable.h.

Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), and mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels().

const mrpt::utils::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const
inlineinherited

Returns the object color property as a TColor.

Definition at line 135 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorA ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 102 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

uint8_t mrpt::opengl::CRenderizable::getColorA_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 107 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorB ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 101 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

uint8_t mrpt::opengl::CRenderizable::getColorB_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 106 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorG ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 100 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

uint8_t mrpt::opengl::CRenderizable::getColorG_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 105 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorR ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 99 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

uint8_t mrpt::opengl::CRenderizable::getColorR_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 104 of file CRenderizable.h.

void CSetOfLines::getLineByIndex ( size_t  index,
double &  x0,
double &  y0,
double &  z0,
double &  x1,
double &  y1,
double &  z1 
) const

Gets a specific line in the set, given its index.

See Also
getLineByIndex

Definition at line 212 of file CSetOfLines.cpp.

References ASSERT_, and mSegments.

size_t mrpt::opengl::CSetOfLines::getLineCount ( ) const
inline

Returns the total count of lines in this set.

Definition at line 136 of file CSetOfLines.h.

float mrpt::opengl::CSetOfLines::getLineWidth ( ) const
inline

Gets the width with which lines are drawn.

Definition at line 61 of file CSetOfLines.h.

const std::string& mrpt::opengl::CRenderizable::getName ( ) const
inlineinherited

Returns the name of the object.

Definition at line 64 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

unsigned int CRenderizable::getNewTextureNumber ( )
staticprotectedinherited

Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).

Returns the lowest, free texture name.

Definition at line 77 of file CRenderizable.cpp.

References TOpenGLNameBooker::instance(), MAX_GL_TEXTURE_IDS, MAX_GL_TEXTURE_IDS_MASK, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

Referenced by mrpt::opengl::CTexturedObject::loadTextureInOpenGL().

mrpt::math::TPose3D CRenderizable::getPose ( ) const
inherited

Returns the 3D pose of the object as TPose3D.

Definition at line 321 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

double mrpt::opengl::CRenderizable::getPosePitch ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 93 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPosePitchRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 96 of file CRenderizable.h.

const mrpt::poses::CPose3D& mrpt::opengl::CRenderizable::getPoseRef ( ) const
inlineinherited

Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix)

Definition at line 81 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

double mrpt::opengl::CRenderizable::getPoseRoll ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 94 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPoseRollRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 97 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseX ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 89 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseY ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 90 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseYaw ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 92 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPoseYawRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 95 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseZ ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 91 of file CRenderizable.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::opengl::CSetOfLines::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

float mrpt::opengl::CRenderizable::getScaleX ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 121 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

float mrpt::opengl::CRenderizable::getScaleY ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 122 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

float mrpt::opengl::CRenderizable::getScaleZ ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 123 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

float CSetOfLines::getVerticesPointSize ( ) const

Definition at line 53 of file CSetOfLines.cpp.

References m_verticesPointSize.

bool mrpt::opengl::CSetOfLines::isAntiAliasingEnabled ( ) const
inline

Definition at line 213 of file CSetOfLines.h.

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const
inlineinherited
See Also
enableShowName

Definition at line 70 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

bool mrpt::opengl::CRenderizable::isVisible ( ) const
inlineinherited

Is the object visible?

See Also
setVisibility

Definition at line 66 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

EIGEN_STRONG_INLINE void mrpt::opengl::CRenderizableDisplayList::notifyChange ( ) const
inlineprotectedinherited

Must be called to notify that the object has changed (so, the display list must be updated)

Definition at line 49 of file CRenderizableDisplayList.h.

Referenced by mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtEnd(), mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtStart(), mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::opengl::CMesh::adjustGridToImageAR(), mrpt::opengl::CVectorField2D::adjustVectorFieldToGrid(), appendLine(), appendLines(), mrpt::opengl::CTexturedObject::assignImage(), mrpt::opengl::CMeshFast::assignImage(), mrpt::opengl::CMesh::assignImage(), mrpt::opengl::CTexturedObject::assignImage_fast(), mrpt::opengl::CMeshFast::assignImageAndZ(), mrpt::opengl::CMesh::assignImageAndZ(), begin(), clear(), mrpt::opengl::C3DSScene::clear(), mrpt::opengl::CVectorField2D::clear(), mrpt::opengl::CAssimpModel::clear(), mrpt::opengl::CVectorField3D::clear(), mrpt::opengl::CPlanarLaserScan::clear(), mrpt::opengl::COctoMapVoxels::clear(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::COpenGLStandardObject::disable(), mrpt::opengl::COpenGLStandardObject::enable(), mrpt::opengl::CSimpleLine::enableAntiAliasing(), mrpt::opengl::CGridPlaneXY::enableAntiAliasing(), mrpt::opengl::CGridPlaneXZ::enableAntiAliasing(), mrpt::opengl::CMesh3D::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), enableAntiAliasing(), mrpt::opengl::CVectorField3D::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::CMeshFast::enableColorFromZ(), mrpt::opengl::COctoMapVoxels::enableCubeTransparency(), mrpt::opengl::CColorBar::enableDepthTest(), mrpt::opengl::CEllipsoid::enableDrawSolid3D(), mrpt::opengl::C3DSScene::enableExtraAmbientLight(), mrpt::opengl::CMesh3D::enableFaceNormals(), mrpt::opengl::COctoMapVoxels::enableLights(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CSphere::enableRadiusIndependentOfEyeDistance(), mrpt::opengl::CMesh3D::enableShowEdges(), mrpt::opengl::CMesh3D::enableShowFaces(), mrpt::opengl::CVectorField3D::enableShowPoints(), mrpt::opengl::CMesh3D::enableShowVertices(), mrpt::opengl::CPlanarLaserScan::enableSurface(), mrpt::opengl::CAxis::enableTickMarks(), mrpt::opengl::CMesh3D::enableTransparency(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CMeshFast::enableTransparency(), mrpt::opengl::CSetOfTriangles::enableTransparency(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), mrpt::opengl::CMesh::enableWireFrame(), end(), mrpt::opengl::C3DSScene::evaluateAnimation(), mrpt::opengl::COctoMapVoxels::getGridCubeRef(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), mrpt::opengl::COctoMapVoxels::getVoxel(), mrpt::opengl::COctoMapVoxels::getVoxelRef(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::C3DSScene::loadFrom3DSFile(), mrpt::opengl::CMesh3D::loadMesh(), mrpt::opengl::CAssimpModel::loadScene(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::opengl::COpenGLStandardObject::readFromStream(), mrpt::opengl::CSimpleLine::readFromStream(), mrpt::opengl::CTexturedPlane::readFromStream(), mrpt::opengl::C3DSScene::readFromStream(), mrpt::opengl::CCylinder::readFromStream(), mrpt::opengl::CSetOfTriangles::readFromStream(), mrpt::opengl::CColorBar::readFromStream(), mrpt::opengl::CArrow::readFromStream(), mrpt::opengl::CAxis::readFromStream(), mrpt::opengl::CDisk::readFromStream(), mrpt::opengl::CSphere::readFromStream(), mrpt::opengl::CGridPlaneXY::readFromStream(), mrpt::opengl::CGridPlaneXZ::readFromStream(), readFromStream(), mrpt::opengl::CBox::readFromStream(), mrpt::opengl::CVectorField2D::readFromStream(), mrpt::opengl::CMesh::readFromStream(), mrpt::opengl::CEllipsoidRangeBearing2D::readFromStream(), mrpt::opengl::CMeshFast::readFromStream(), mrpt::opengl::CAssimpModel::readFromStream(), mrpt::opengl::CEllipsoid::readFromStream(), mrpt::opengl::CText3D::readFromStream(), mrpt::opengl::CEllipsoidInverseDepth2D::readFromStream(), mrpt::opengl::CVectorField3D::readFromStream(), mrpt::opengl::CEllipsoidInverseDepth3D::readFromStream(), mrpt::opengl::CFrustum::readFromStream(), mrpt::opengl::COctoMapVoxels::readFromStream(), mrpt::opengl::CTexturedObject::readFromStreamTexturedObject(), mrpt::opengl::CSetOfTriangles::reserve(), reserve(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), resize(), mrpt::opengl::CVectorField2D::resize(), mrpt::opengl::CVectorField3D::resize(), mrpt::opengl::COctoMapVoxels::resizeGridCubes(), mrpt::opengl::COctoMapVoxels::resizeVoxels(), mrpt::opengl::COctoMapVoxels::resizeVoxelSets(), mrpt::opengl::CEllipsoid::set2DsegmentsCount(), mrpt::opengl::CEllipsoid::set3DsegmentsCount(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsInvisible(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsVisible(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CArrow::setArrowYawPitchRoll(), mrpt::opengl::CGeneralizedCylinder::setAxis(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), mrpt::opengl::CBox::setBoxCorners(), mrpt::opengl::CGeneralizedCylinder::setClosed(), mrpt::opengl::CSetOfTriangles::setColor_u8(), mrpt::opengl::CSetOfTriangles::setColorA_u8(), mrpt::opengl::CColorBar::setColorAndValueLimits(), mrpt::opengl::CSetOfTriangles::setColorB_u8(), mrpt::opengl::CSetOfTriangles::setColorG_u8(), mrpt::opengl::CColorBar::setColormap(), mrpt::opengl::CSetOfTriangles::setColorR_u8(), mrpt::opengl::CEllipsoid::setCovMatrix(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::COpenGLStandardObject::setFlags(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), mrpt::opengl::CGeneralizedCylinder::setGeneratrix(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CMesh::setGridLimits(), mrpt::opengl::CMeshFast::setGridLimits(), mrpt::opengl::CVectorField2D::setGridLimits(), mrpt::opengl::COctoMapVoxels::setGridLinesColor(), mrpt::opengl::COctoMapVoxels::setGridLinesWidth(), mrpt::opengl::CCylinder::setHasBases(), mrpt::opengl::CArrow::setHeadRatio(), mrpt::opengl::CCylinder::setHeight(), mrpt::opengl::CFrustum::setHorzFOV(), mrpt::opengl::CFrustum::setHorzFOVAsymmetric(), mrpt::opengl::CArrow::setLargeRadius(), setLineByIndex(), mrpt::opengl::CSimpleLine::setLineCoords(), mrpt::opengl::CSimpleLine::setLineWidth(), mrpt::opengl::CGridPlaneXY::setLineWidth(), mrpt::opengl::CGridPlaneXZ::setLineWidth(), mrpt::opengl::CAxis::setLineWidth(), setLineWidth(), mrpt::opengl::CFrustum::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CEllipsoid::setLineWidth(), mrpt::opengl::CVectorField2D::setLineWidth(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setLineWidth(), mrpt::opengl::CVectorField3D::setLineWidth(), mrpt::opengl::CDisk::setLoopsCount(), mrpt::opengl::CMesh::setMask(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::CFrustum::setNearFarPlanes(), mrpt::opengl::COpenGLStandardObject::setNormal(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CSphere::setNumberDivsLongitude(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setNumberOfSegments(), mrpt::opengl::CFrustum::setPlaneColor(), mrpt::opengl::CTexturedPlane::setPlaneCorners(), mrpt::opengl::CGridPlaneXY::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneYcoord(), mrpt::opengl::CGridPlaneXY::setPlaneZcoord(), mrpt::opengl::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CVectorField2D::setPointSize(), mrpt::opengl::CVectorField3D::setPointSize(), mrpt::opengl::CEllipsoid::setQuantiles(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setQuantiles(), mrpt::opengl::CCylinder::setRadii(), mrpt::opengl::CSphere::setRadius(), mrpt::opengl::CCylinder::setRadius(), mrpt::opengl::CPlanarLaserScan::setScan(), mrpt::opengl::CDisk::setSlicesCount(), mrpt::opengl::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CCylinder::setStacksCount(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CAxis::setTextScale(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CTexturedPlane::setTextureCornerCoords(), mrpt::opengl::CMesh::setUV(), mrpt::opengl::CVectorField2D::setVectorField(), mrpt::opengl::CVectorField3D::setVectorField(), mrpt::opengl::CVectorField2D::setVectorFieldColor(), mrpt::opengl::CVectorField3D::setVectorFieldColor(), mrpt::opengl::CFrustum::setVertFOV(), mrpt::opengl::CFrustum::setVertFOVAsymmetric(), setVerticesPointSize(), mrpt::opengl::CGeneralizedCylinder::setVisibleSections(), mrpt::opengl::COctoMapVoxels::setVisualizationMode(), mrpt::opengl::COctoMapVoxels::setVoxelAsPointsSize(), mrpt::opengl::CBox::setWireframe(), mrpt::opengl::CAngularObservationMesh::setWireframe(), mrpt::opengl::CMeshFast::setXBounds(), mrpt::opengl::CMesh::setXBounds(), mrpt::opengl::CMeshFast::setXMax(), mrpt::opengl::CMesh::setXMax(), mrpt::opengl::CMeshFast::setXMin(), mrpt::opengl::CMesh::setXMin(), mrpt::opengl::CMeshFast::setYBounds(), mrpt::opengl::CMesh::setYBounds(), mrpt::opengl::CMeshFast::setYMax(), mrpt::opengl::CMesh::setYMax(), mrpt::opengl::CMeshFast::setYMin(), mrpt::opengl::CMesh::setYMin(), mrpt::opengl::CMesh::setZ(), mrpt::opengl::CMeshFast::setZ(), mrpt::opengl::COctoMapVoxels::showGridLines(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::showVoxelsAsPoints(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::thisclass_readFromStream(), mrpt::opengl::CMesh::updateColorsMatrix(), mrpt::opengl::CMeshFast::updateColorsMatrix(), mrpt::opengl::CMeshFast::updatePoints(), mrpt::opengl::CMesh::updatePolygons(), mrpt::opengl::CSetOfTriangles::updatePolygons(), and mrpt::opengl::CMesh::updateTriangles().

void mrpt::opengl::CSetOfLines::operator delete ( void ptr)
throw (
)
inline

Definition at line 37 of file CSetOfLines.h.

void mrpt::opengl::CSetOfLines::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 37 of file CSetOfLines.h.

void mrpt::opengl::CSetOfLines::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 37 of file CSetOfLines.h.

void mrpt::opengl::CSetOfLines::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 37 of file CSetOfLines.h.

static void* mrpt::opengl::CSetOfLines::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 37 of file CSetOfLines.h.

void* mrpt::opengl::CSetOfLines::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 37 of file CSetOfLines.h.

void* mrpt::opengl::CSetOfLines::operator new ( size_t  size)
inline

Definition at line 37 of file CSetOfLines.h.

void* mrpt::opengl::CSetOfLines::operator new[] ( size_t  size)
inline

Definition at line 37 of file CSetOfLines.h.

const_reverse_iterator mrpt::opengl::CSetOfLines::rbegin ( ) const
inline

Beginning const reverse iterator (actually, accesses the end of the set).

See Also
rend,begin,end

Definition at line 198 of file CSetOfLines.h.

void CSetOfLines::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 142 of file CSetOfLines.cpp.

References m_antiAliasing, m_verticesPointSize, mLineWidth, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mSegments, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CRenderizableDisplayList::readFromStreamRender().

void mrpt::opengl::CRenderizableDisplayList::readFromStreamRender ( mrpt::utils::CStream in)
inlineprotectedinherited
void CRenderizable::releaseTextureName ( unsigned int  i)
staticprotectedinherited
const_reverse_iterator mrpt::opengl::CSetOfLines::rend ( ) const
inline

Ending const reverse iterator (actually, refers to the starting point of the set).

See Also
rbegin,end,begin

Definition at line 205 of file CSetOfLines.h.

void CRenderizableDisplayList::render ( ) const
virtualinherited
void CSetOfLines::render_dl ( ) const
virtual
void CRenderizable::renderTextBitmap ( const char *  str,
void fontStyle 
)
staticinherited

This method is safe for calling from within ::render() methods.

See Also
renderTextBitmap, mrpt::opengl::gl_utils
renderTextBitmap

Definition at line 351 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::renderTextBitmap().

void CRenderizable::renderTextBitmap ( int  screen_x,
int  screen_y,
const std::string str,
float  color_r = 1,
float  color_g = 1,
float  color_b = 1,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
staticinherited

Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)

  • Coordinates (x,y) are 2D pixels, starting at bottom-left of the viewport. Negative numbers will wrap to the opposite side of the viewport (e.g. x=-10 means 10px fromt the right).
  • The text color is defined by (color_r,color_g,color_b), each float numbers in the range [0,1].
    See Also
    renderTextBitmap, textBitmapWidth, mrpt::opengl::gl_utils

Definition at line 286 of file gl_utils.cpp.

References aux_mrptfont2glutfont(), GL_DEPTH_TEST, GL_MODELVIEW, GL_PROJECTION, GL_TRANSFORM_BIT, GL_VIEWPORT, GL_VIEWPORT_BIT, glColor3f(), glDisable(), glEnable(), glGetIntegerv(), glLoadIdentity(), glMatrixMode(), glPopAttrib(), glPopMatrix(), glPushAttrib(), glPushMatrix(), glRasterPos3f(), glViewport(), int(), and MRPT_UNUSED_PARAM.

void mrpt::opengl::CSetOfLines::reserve ( size_t  r)
inline

Reserves an amount of lines to the set.

This method should be used when some known amount of lines is going to be inserted, so that only a memory allocation is needed.

See Also
resize

Definition at line 124 of file CSetOfLines.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CSetOfLines::resize ( size_t  nLines)
inline

Resizes the set.

See Also
reserve

Definition at line 116 of file CSetOfLines.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf c)
inlineinherited
Parameters
cChanges the default object color
Returns
a ref to this

Definition at line 127 of file CRenderizable.h.

References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, and mrpt::utils::TColorf::R.

CRenderizable& mrpt::opengl::CRenderizable::setColor ( double  R,
double  G,
double  B,
double  A = 1 
)
inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns
a ref to this

Definition at line 133 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColor_u8 ( const mrpt::utils::TColor c)
inlinevirtualinherited

Changes the default object color.

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 86 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizable::setColor_u8().

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColor_u8 ( uint8_t  R,
uint8_t  G,
uint8_t  B,
uint8_t  A = 255 
)
inlineinherited

Color components in the range [0,255].

Returns
a ref to this

Definition at line 87 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizable::setColor_u8().

CRenderizable& mrpt::opengl::CRenderizable::setColorA ( const double  a)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 112 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorA_u8 ( const uint8_t  a)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 85 of file CRenderizableDisplayList.h.

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

CRenderizable& mrpt::opengl::CRenderizable::setColorB ( const double  b)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 111 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorB_u8 ( const uint8_t  b)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 84 of file CRenderizableDisplayList.h.

CRenderizable& mrpt::opengl::CRenderizable::setColorG ( const double  g)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 110 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorG_u8 ( const uint8_t  g)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 83 of file CRenderizableDisplayList.h.

CRenderizable& mrpt::opengl::CRenderizable::setColorR ( const double  r)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 109 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorR_u8 ( const uint8_t  r)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 82 of file CRenderizableDisplayList.h.

void CSetOfLines::setLineByIndex ( size_t  index,
const mrpt::math::TSegment3D segm 
)

Sets a specific line in the set, given its index.

See Also
appendLine

Definition at line 45 of file CSetOfLines.cpp.

References MRPT_END, MRPT_START, mSegments, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and THROW_EXCEPTION.

void mrpt::opengl::CSetOfLines::setLineByIndex ( size_t  index,
double  x0,
double  y0,
double  z0,
double  x1,
double  y1,
double  z1 
)
inline

Sets a specific line in the set, given its index.

See Also
appendLine

Definition at line 150 of file CSetOfLines.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CSetOfLines::setLineWidth ( float  w)
inline

Sets the width with which lines will be drawn.

Definition at line 54 of file CSetOfLines.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( double  x,
double  y,
double  z 
)
inlineinherited

Changes the location of the object, keeping untouched the orientation.

Returns
a ref to this

Definition at line 84 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( const mrpt::math::TPoint3D p)
inlineinherited

Changes the location of the object, keeping untouched the orientation.

Returns
a ref to this

Definition at line 87 of file CRenderizable.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void mrpt::opengl::CRenderizable::setName ( const std::string n)
inlineinherited

Changes the name of the object.

Definition at line 63 of file CRenderizable.h.

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose3D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Definition at line 285 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose2D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Definition at line 290 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose3D o)
inherited

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

Definition at line 295 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose2D o)
inherited

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

Definition at line 300 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint3D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Parameters
oSet the 3D pose from a mrpt::poses::CPose3D object

Definition at line 306 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint2D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Parameters
oSet the 3D pose from a mrpt::poses::CPose3D object

Definition at line 311 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float  s)
inlineinherited

Scale to apply to the object, in all three axes (default=1)

Returns
a ref to this

Definition at line 119 of file CRenderizable.h.

Referenced by mrpt::opengl::CText3D::CText3D().

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float  sx,
float  sy,
float  sz 
)
inlineinherited

Scale to apply to the object in each axis (default=1)

Returns
a ref to this

Definition at line 120 of file CRenderizable.h.

void CSetOfLines::setVerticesPointSize ( const float  size_points)

Enable showing vertices as dots if size_points>0.

Definition at line 57 of file CSetOfLines.cpp.

References m_verticesPointSize, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CRenderizable::setVisibility ( bool  visible = true)
inlineinherited

Set object visibility (default=true)

See Also
isVisible

Definition at line 67 of file CRenderizable.h.

virtual bool mrpt::opengl::CRenderizableDisplayList::should_skip_display_list_cache ( ) const
inlineprotectedvirtualinherited

Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases.

Reimplemented in mrpt::opengl::CSphere.

Definition at line 56 of file CRenderizableDisplayList.h.

Referenced by mrpt::opengl::CRenderizableDisplayList::render().

size_t mrpt::opengl::CSetOfLines::size ( ) const
inline

Returns the total count of lines in this set.

Definition at line 138 of file CSetOfLines.h.

int CRenderizable::textBitmapWidth ( const std::string str,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
staticinherited

Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().

See Also
renderTextBitmap, mrpt::opengl::gl_utils
renderTextBitmap

Definition at line 359 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::textBitmapWidth().

bool CRenderizable::traceRay ( const mrpt::poses::CPose3D o,
double &  dist 
) const
virtualinherited
virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

void CSetOfLines::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 127 of file CSetOfLines.cpp.

References m_antiAliasing, m_verticesPointSize, mLineWidth, mSegments, and mrpt::opengl::CRenderizable::writeToStreamRender().

void CRenderizable::writeToStreamRender ( utils::CStream out) const
protectedinherited

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::opengl::CSetOfLines::_init_CSetOfLines
staticprotected

Definition at line 37 of file CSetOfLines.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizable::classCRenderizable
staticinherited

Definition at line 46 of file CRenderizable.h.

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizableDisplayList::classCRenderizableDisplayList
staticinherited

Definition at line 38 of file CRenderizableDisplayList.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

mrpt::utils::TRuntimeClassId mrpt::opengl::CSetOfLines::classCSetOfLines
static

Definition at line 37 of file CSetOfLines.h.

const mrpt::utils::TRuntimeClassId* mrpt::opengl::CSetOfLines::classinfo
static

Definition at line 37 of file CSetOfLines.h.

bool mrpt::opengl::CSetOfLines::m_antiAliasing
protected

Definition at line 41 of file CSetOfLines.h.

Referenced by readFromStream(), render_dl(), and writeToStream().

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color
protectedinherited
std::string mrpt::opengl::CRenderizable::m_name
protectedinherited
mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose
protectedinherited
float mrpt::opengl::CRenderizable::m_scale_x
protectedinherited
float mrpt::opengl::CRenderizable::m_scale_y
protectedinherited
float mrpt::opengl::CRenderizable::m_scale_z
protectedinherited

Scale components to apply to the object (default=1)

Definition at line 56 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().

bool mrpt::opengl::CRenderizable::m_show_name
protectedinherited
float mrpt::opengl::CSetOfLines::m_verticesPointSize
protected

0: means hidden

Definition at line 42 of file CSetOfLines.h.

Referenced by getVerticesPointSize(), readFromStream(), render_dl(), setVerticesPointSize(), and writeToStream().

bool mrpt::opengl::CRenderizable::m_visible
protectedinherited

Is the object visible? (default=true)

Definition at line 57 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().

float mrpt::opengl::CSetOfLines::mLineWidth
protected

Definition at line 40 of file CSetOfLines.h.

Referenced by readFromStream(), render_dl(), and writeToStream().

std::vector<mrpt::math::TSegment3D> mrpt::opengl::CSetOfLines::mSegments
protected



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