CAxis.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef opengl_CAxis_H
#define opengl_CAxis_H

#include <mrpt/opengl/CRenderizableDisplayList.h>

namespace mrpt
{
        namespace opengl
        {


                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CAxis, CRenderizableDisplayList, OPENGL_IMPEXP )

                /** Draw a 3D world axis, with coordinate marks at some regular interval
                  *  \sa opengl::COpenGLScene
                  *  
                  *  <div align="center">
                  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
                  *  <tr> <td> mrpt::opengl::CAxis </td> <td> \image html preview_CAxis.png </td> </tr>
                  *  </table>
                  *  </div>
                  *  
                  * \ingroup mrpt_opengl_grp
                  */
                class OPENGL_IMPEXP CAxis : public CRenderizableDisplayList
                {
                        DEFINE_SERIALIZABLE( CAxis )
                protected:
                        float   m_xmin,m_ymin,m_zmin;
                        float   m_xmax,m_ymax,m_zmax;
                        float   m_frequency;
                        float   m_lineWidth;
                        bool    m_marks[3]; //!< draw marks for X,Y,Z
                        float   m_textScale;
                        float   m_textRot[3][3]; // {x,y,z},{yaw,pitch,roll}

                public:
                        void setAxisLimits(float xmin,float ymin, float zmin, float xmax,float ymax, float zmax);
                        void setFrequency(float f); //!< Changes the frequency of the "ticks"
                        float getFrequency() const;
                        void setLineWidth(float w);
                        float getLineWidth() const;
                        void setTextScale(float f); //!< Changes the size of text labels (default:0.25)
                        float getTextScale() const;
                        void setTextLabelOrientation(int axis, float yaw_deg, float pitch_deg, float roll_deg); //!< axis: {0,1,2}=>{X,Y,Z}
                        void getTextLabelOrientation(int axis, float &yaw_deg, float &pitch_deg, float &roll_deg) const; //!< axis: {0,1,2}=>{X,Y,Z}

                        void enableTickMarks(bool v=true);
                        void enableTickMarks(bool show_x, bool show_y, bool show_z);

                        /** Class factory  */
                        static CAxisPtr Create(
                                float xmin,float ymin, float zmin,
                                float xmax, float ymax,  float zmax,
                                float frecuency = 1, float lineWidth = 3, bool marks=false);

                        /** Render */
                        void  render_dl() const MRPT_OVERRIDE;

                        /** Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. */
                        void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE;
        private:
                        /** Constructor */
                        CAxis(
                                float xmin=-1.0f,float ymin=-1.0f, float zmin=-1.0f,
                                float xmax=1.0f, float ymax=1.0f,  float zmax=1.0f,
                                float frecuency = 0.25f, float lineWidth = 3.0f, bool marks=false);

                        /** Private, virtual destructor: only can be deleted from smart pointers */
                        virtual ~CAxis() { }
                };
                DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CAxis, CRenderizableDisplayList, OPENGL_IMPEXP )

        } // end namespace
} // End of namespace

#endif