CGridPlaneXZ.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     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_CGridPlaneXZ_H
#define opengl_CGridPlaneXZ_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( CGridPlaneXZ, CRenderizableDisplayList, OPENGL_IMPEXP )

                /** A grid of lines over the XZ plane.
                  *  \sa opengl::COpenGLScene
                  *  
                  *  <div align="center">
                  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
                  *   <tr> <td> mrpt::opengl::CGridPlaneXZ </td> <td> \image html preview_CGridPlaneXZ.png </td> </tr>
                  *  </table>
                  *  </div>
                  *  
                  * \ingroup mrpt_opengl_grp
                  */
                class OPENGL_IMPEXP CGridPlaneXZ : public CRenderizableDisplayList
                {
                        DEFINE_SERIALIZABLE( CGridPlaneXZ )

                protected:
                        float   m_xMin, m_xMax;
                        float   m_zMin, m_zMax;
                        float   m_plane_y;
                        float   m_frequency;
            float       m_lineWidth;
                        bool    m_antiAliasing;

                public:
                        void setLineWidth(float w) { m_lineWidth=w; CRenderizableDisplayList::notifyChange(); }
                        float getLineWidth() const { return  m_lineWidth;}

                        void enableAntiAliasing(bool enable=true) { m_antiAliasing =enable; CRenderizableDisplayList::notifyChange(); }
                        bool isAntiAliasingEnabled() const { return m_antiAliasing; }

                        void setPlaneLimits(float xmin,float xmax, float zmin, float zmax)
                        {
                                m_xMin=xmin; m_xMax = xmax;
                                m_zMin=zmin; m_zMax = zmax;
                                CRenderizableDisplayList::notifyChange();
                        }

                        void getPlaneLimits(float &xmin,float &xmax, float &zmin, float &zmax) const
                        {
                                xmin=m_xMin; xmax=m_xMax;
                                zmin=m_zMin; zmax=m_zMax;
                        }

                        void setPlaneYcoord(float y) { m_plane_y=y; CRenderizableDisplayList::notifyChange(); }
                        float getPlaneYcoord() const { return m_plane_y; }

                        void setGridFrequency(float freq) { ASSERT_(freq>0); m_frequency=freq; CRenderizableDisplayList::notifyChange(); }
                        float getGridFrequency() const { return m_frequency; }



                        /** Class factory  */
                        static CGridPlaneXZPtr Create(
                                float xMin = -10,
                                float xMax = 10,
                                float zMin = -10,
                                float zMax = 10,
                                float y = 0,
                                float frequency = 1,
                                float lineWidth = 1.3f,
                                bool  antiAliasing = true
                                );

                        /** 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 */
                        CGridPlaneXZ(
                                float xMin = -10,
                                float xMax = 10,
                                float zMin = -10,
                                float zMax = 10,
                                float y = 0,
                                float frequency = 1,
                                float lineWidth = 1.3f,
                                bool  antiAliasing = true
                                );
                        /** Private, virtual destructor: only can be deleted from smart pointers */
                        virtual ~CGridPlaneXZ() { }
                };
                DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CGridPlaneXZ, CRenderizableDisplayList, OPENGL_IMPEXP )

        } // end namespace

} // End of namespace


#endif