mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > Class Template Reference

Detailed Description

template<class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotations, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
class mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >

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

Definition at line 27 of file CVisualizer.h.

#include <mrpt/graphs/CVisualizer.h>

Inheritance diagram for mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >:

Public Types
typedef mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >	GRAPH_T

Public Member Functions
	CVisualizer (const GRAPH_T &graph_in)
	Constructor. More...
virtual	~CVisualizer ()
	Destructor. More...
virtual void	getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &object, mrpt::utils::TParametersDouble viz_params) const
	Common visualization stuff for all derived classes. More...

Protected Member Functions
Work-splitting methods
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

Protected Attributes
bool	m_is_3D_graph
const GRAPH_T &	m_graph

Member Typedef Documentation

GRAPH_T

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotations, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>

typedef mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS> mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::GRAPH_T

Definition at line 34 of file CVisualizer.h.

Constructor & Destructor Documentation

CVisualizer()

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >

mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::CVisualizer

(

const GRAPH_T &

graph_in

)

Constructor.

Definition at line 9 of file CVisualizer_impl.h.

References mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::m_is_3D_graph.

~CVisualizer()

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >

mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::~CVisualizer

virtual

Destructor.

Definition at line 18 of file CVisualizer_impl.h.

Member Function Documentation

drawEdgeRelPoses()

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >

void mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::drawEdgeRelPoses ( mrpt::opengl::CSetOfObjectsPtr &  object, const mrpt::utils::TParametersDouble *  viz_params = NULL  ) const

protectedvirtual

Definition at line 180 of file CVisualizer_impl.h.

References ASSERTMSG_, mrpt::opengl::stock_objects::CornerXYSimple(), mrpt::opengl::stock_objects::CornerXYZSimple(), mrpt::opengl::CSetOfObjects::Create(), mrpt::opengl::CSimpleLine::Create(), mrpt::utils::TParameters< T >::getWithDefaultVal(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

drawEdges()

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >

void mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::drawEdges ( mrpt::opengl::CSetOfObjectsPtr &  object, const mrpt::utils::TParametersDouble *  viz_params = NULL  ) const

protectedvirtual

Reimplemented in mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >, and mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >.

Definition at line 236 of file CVisualizer_impl.h.

References ASSERTMSG_, mrpt::opengl::CSetOfLines::Create(), mrpt::utils::TParameters< T >::getWithDefaultVal(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

drawGroundGrid()

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >

void mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::drawGroundGrid ( mrpt::opengl::CSetOfObjectsPtr &  object, const mrpt::utils::TParametersDouble *  viz_params = NULL  ) const

protectedvirtual

Definition at line 69 of file CVisualizer_impl.h.

References ASSERTMSG_, mrpt::opengl::CGridPlaneXY::Create(), mrpt::utils::keep_max(), mrpt::utils::keep_min(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

drawNodeCorners()

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >

void mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::drawNodeCorners ( mrpt::opengl::CSetOfObjectsPtr &  object, const mrpt::utils::TParametersDouble *  viz_params = NULL  ) const

protectedvirtual

Definition at line 141 of file CVisualizer_impl.h.

References ASSERTMSG_, mrpt::opengl::stock_objects::CornerXYSimple(), mrpt::opengl::stock_objects::CornerXYZSimple(), mrpt::opengl::CSetOfObjects::Create(), mrpt::format(), and mrpt::utils::TParameters< T >::getWithDefaultVal().

drawNodePoints()

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >

void mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::drawNodePoints ( mrpt::opengl::CSetOfObjectsPtr &  object, const mrpt::utils::TParametersDouble *  viz_params = NULL  ) const

protectedvirtual

Reimplemented in mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >, and mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >.

Definition at line 106 of file CVisualizer_impl.h.

References ASSERTMSG_, mrpt::opengl::CPointCloud::Create(), and mrpt::utils::TParameters< T >::getWithDefaultVal().

getAs3DObject()

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >

void mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr &  object, mrpt::utils::TParametersDouble  viz_params  ) const

virtual

Common visualization stuff for all derived classes.

Function delegates visualization tasks to the draw* methods according to the user preferences

Definition at line 24 of file CVisualizer_impl.h.

References mrpt::utils::TParameters< T >::getWithDefaultVal().

Member Data Documentation

m_graph

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotations, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>

const GRAPH_T& mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::m_graph

protected

Definition at line 74 of file CVisualizer.h.

m_is_3D_graph

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotations, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>

bool mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::m_is_3D_graph

protected

Definition at line 73 of file CVisualizer.h.

Referenced by mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::CVisualizer().