CMRVisualizer.h

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#ifndef CMRVISUALIZER_H
#define CMRVISUALIZER_H

#include <iostream>

#include <mrpt/graphs/CVisualizer.h>
#include <mrpt/graphs/TMRSlamNodeAnnotations.h>
#include <utility>

namespace mrpt { namespace graphs { namespace detail {

// (Dummy) standard version
//////////////////////////////////////////////////////////

/**\brief Wrapper class that provides visualization of a network of poses that
 * have been registered by many graphSLAM agents/robots
 *
 * \note This is a dummy 4 template arguments version of the CMRVisualizer
 * class just to silence GCC warnings on conversions.
 * For implementation details users should see its specialized version that
 * runs specifically for TMRSlamNodeAnnotations as the 3rd template argument.
 *
 */
template<
        class CPOSE, // Type of edges
        class MAPS_IMPLEMENTATION, // Use std::map<> vs. std::vector<>
        class NODE_ANNOTATIONS=mrpt::graphs::detail::TMRSlamNodeAnnotations,
        class EDGE_ANNOTATIONS=mrpt::graphs::detail::edge_annotations_empty
        >
class CMRVisualizer:
        public CVisualizer<CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>
{
public:
        typedef CVisualizer<CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>
                parent;
        typedef mrpt::graphs::CNetworkOfPoses<
                CPOSE,
                MAPS_IMPLEMENTATION,
                NODE_ANNOTATIONS,
                EDGE_ANNOTATIONS> GRAPH_T;

        CMRVisualizer(const GRAPH_T& graph_in);

        ~CMRVisualizer();
        void drawNodePoints(mrpt::opengl::CSetOfObjectsPtr& object,
                        const mrpt::utils::TParametersDouble* viz_params=NULL) const;
        void drawEdges(mrpt::opengl::CSetOfObjectsPtr& object,
                        const mrpt::utils::TParametersDouble* viz_params=NULL) const;

private:
};

// Specialized version
//////////////////////////////////////////////////////////

template<
        class CPOSE, // Type of edges
        class MAPS_IMPLEMENTATION, // Use std::map<> vs. std::vector<>
        class EDGE_ANNOTATIONS
        >
class CMRVisualizer<CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS>:
        public CVisualizer<CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS>
{
public:
        typedef CVisualizer<CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS>
                parent;
        typedef mrpt::graphs::CNetworkOfPoses<
                CPOSE,
                MAPS_IMPLEMENTATION,
                TMRSlamNodeAnnotations,
                EDGE_ANNOTATIONS> GRAPH_T;

        CMRVisualizer(const GRAPH_T& graph_in);

        ~CMRVisualizer();
        void drawNodePoints(mrpt::opengl::CSetOfObjectsPtr& object,
                        const mrpt::utils::TParametersDouble* viz_params=NULL) const;
        void drawEdges(mrpt::opengl::CSetOfObjectsPtr& object,
                        const mrpt::utils::TParametersDouble* viz_params=NULL) const;

private:
};



} } } // end of namespaces

#include <mrpt/graphs/CMRVisualizer_impl.h>

#endif /* end of include guard: CMRVISUALIZER_H */