CVisualizer.h

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#ifndef CVISUALIZER_H
#define CVISUALIZER_H
 
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CSetOfLines.h>
#include <mrpt/opengl/CSimpleLine.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CPointCloud.h>
#include <mrpt/opengl/stock_objects.h>
#include <mrpt/utils/TParameters.h>
#include <mrpt/graphs/CNetworkOfPoses.h>
 
namespace mrpt { namespace graphs { namespace detail {
 
/**\brief Base class for C*Visualizer classes.
 *
 * By default provides visualization for a CNetowrkOfPoses containing nodes and
 * edges as constructed by a single agent/robot. Derived classes can inherit
 * and partially modify the class behavior 
*/
template<
        class CPOSE, // Type of edges
        class MAPS_IMPLEMENTATION, // Use std::map<> vs. std::vector<>
        class NODE_ANNOTATIONS=mrpt::graphs::detail::TNodeAnnotations,
        class EDGE_ANNOTATIONS=mrpt::graphs::detail::edge_annotations_empty
        >
class CVisualizer
{
public:
        typedef mrpt::graphs::CNetworkOfPoses<
                CPOSE, 
                MAPS_IMPLEMENTATION,
                NODE_ANNOTATIONS,
                EDGE_ANNOTATIONS> GRAPH_T; 
        /**\brief Constructor
        */
        CVisualizer(const GRAPH_T& graph_in);
        /**\brief Destructor
        */
        virtual ~CVisualizer();
        /**\brief Common visualization stuff for all derived classes
         *
         * Function delegates visualization tasks to the draw* methods according to
         * the user preferences
         *
         */
        virtual void    getAs3DObject(
                        mrpt::opengl::CSetOfObjectsPtr& object,
                        mrpt::utils::TParametersDouble viz_params) const;
 
protected:
        /**\name Work-splitting methods
         * \brief Smaller functions that do add very specific parts to the visual representation
         *
         * Following functions take an optional TParametersDouble instance containing
         * visualization parameters
         *
         */
        /**\{ */
        virtual void drawGroundGrid(mrpt::opengl::CSetOfObjectsPtr& object,
                        const mrpt::utils::TParametersDouble* viz_params=NULL) const;
        virtual void drawNodeCorners(mrpt::opengl::CSetOfObjectsPtr& object,
                        const mrpt::utils::TParametersDouble* viz_params=NULL) const;
        virtual void drawNodePoints(mrpt::opengl::CSetOfObjectsPtr& object,
                        const mrpt::utils::TParametersDouble* viz_params=NULL) const;
        virtual void drawEdgeRelPoses(mrpt::opengl::CSetOfObjectsPtr& object,
                        const mrpt::utils::TParametersDouble* viz_params=NULL) const;
        virtual void drawEdges(mrpt::opengl::CSetOfObjectsPtr& object,
                        const mrpt::utils::TParametersDouble* viz_params=NULL) const;
 
        /**\} */
 
        bool m_is_3D_graph;
        const GRAPH_T& m_graph;
};
 
 
} } } // end of namespaces
 
#include <mrpt/graphs/CVisualizer_impl.h>
 
#endif /* end of include guard: CVISUALIZER_H */