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mrpt::opengl::CSetOfObjects Class Reference

Detailed Description

A set of object, which are referenced to the coordinates framework established in this object.

It can be established a hierarchy of "CSetOfObjects", where the coordinates framework of each one will be referenced to the parent's one. The list of child objects is accessed directly as in the class "COpenGLScene"

See also
opengl::COpenGLScene

Definition at line 32 of file CSetOfObjects.h.

#include <mrpt/opengl/CSetOfObjects.h>

Inheritance diagram for mrpt::opengl::CSetOfObjects:
Inheritance graph

Public Types

typedef CListOpenGLObjects::const_iterator const_iterator
 
typedef CListOpenGLObjects::iterator iterator
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
const_iterator begin () const
 
const_iterator end () const
 
iterator begin ()
 
iterator end ()
 
template<class T >
void insertCollection (const T &objs)
 Inserts a set of objects into the list. More...
 
void insert (const CRenderizablePtr &newObject)
 Insert a new object to the list. More...
 
template<class T_it >
void insert (const T_it &begin, const T_it &end)
 Inserts a set of objects, bounded by iterators, into the list. More...
 
void render () const MRPT_OVERRIDE
 Render child objects. More...
 
void clear ()
 Clear the list of objects in the scene, deleting objects' memory. More...
 
size_t size ()
 Returns number of objects. More...
 
bool empty () const
 Returns true if there are no objects. More...
 
void initializeAllTextures ()
 Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL) More...
 
CRenderizablePtr getByName (const std::string &str)
 Returns the first object with a given name, or a NULL pointer if not found. More...
 
template<typename T >
T::Ptr getByClass (const size_t &ith=0) const
 Returns the i'th object of a given class (or of a descendant class), or NULL (an empty smart pointer) if not found. More...
 
void removeObject (const CRenderizablePtr &obj)
 Removes the given object from the scene (it also deletes the object to free its memory). More...
 
void dumpListOfObjects (mrpt::utils::CStringList &lst)
 Retrieves a list of all objects in text form. More...
 
virtual bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const MRPT_OVERRIDE
 Simulation of ray-trace, given a pose. More...
 
virtual CRenderizablesetColor_u8 (const mrpt::utils::TColor &c) MRPT_OVERRIDE
 
virtual CRenderizablesetColorR_u8 (const uint8_t r) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorG_u8 (const uint8_t g) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorB_u8 (const uint8_t b) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorA_u8 (const uint8_t a) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
bool contains (const CRenderizablePtr &obj) const
 
virtual void getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE
 Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More...
 
CRenderizableclone () const
 Interface for the smart pointer class. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
Changes the appearance of the object to render
void setName (const std::string &n)
 Changes the name of the object. More...
 
const std::stringgetName () const
 Returns the name of the object. More...
 
bool isVisible () const
 Is the object visible? More...
 
void setVisibility (bool visible=true)
 Set object visibility (default=true) More...
 
void enableShowName (bool showName=true)
 Enables or disables showing the name of the object as a label when rendering. More...
 
bool isShowNameEnabled () const
 
CRenderizablesetPose (const mrpt::poses::CPose3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPose2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose3D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose2D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPoint3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPoint2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
mrpt::math::TPose3D getPose () const
 Returns the 3D pose of the object as TPose3D. More...
 
const mrpt::poses::CPose3DgetPoseRef () const
 Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More...
 
CRenderizablesetLocation (double x, double y, double z)
 Changes the location of the object, keeping untouched the orientation. More...
 
CRenderizablesetLocation (const mrpt::math::TPoint3D &p)
 Changes the location of the object, keeping untouched the orientation. More...
 
double getPoseX () const
 Translation relative to parent coordinate origin. More...
 
double getPoseY () const
 Translation relative to parent coordinate origin. More...
 
double getPoseZ () const
 Translation relative to parent coordinate origin. More...
 
double getPoseYaw () const
 Rotation relative to parent coordinate origin, in DEGREES. More...
 
double getPosePitch () const
 Rotation relative to parent coordinate origin, in DEGREES. More...
 
double getPoseRoll () const
 Rotation relative to parent coordinate origin, in DEGREES. More...
 
double getPoseYawRad () const
 Rotation relative to parent coordinate origin, in radians. More...
 
double getPosePitchRad () const
 Rotation relative to parent coordinate origin, in radians. More...
 
double getPoseRollRad () const
 Rotation relative to parent coordinate origin, in radians. More...
 
double getColorR () const
 Color components in the range [0,1]. More...
 
double getColorG () const
 Color components in the range [0,1]. More...
 
double getColorB () const
 Color components in the range [0,1]. More...
 
double getColorA () const
 Color components in the range [0,1]. More...
 
uint8_t getColorR_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorG_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorB_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorA_u8 () const
 Color components in the range [0,255]. More...
 
CRenderizablesetColorR (const double r)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorG (const double g)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorB (const double b)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorA (const double a)
 Color components in the range [0,1]. More...
 
CRenderizablesetScale (float s)
 Scale to apply to the object, in all three axes (default=1) More...
 
CRenderizablesetScale (float sx, float sy, float sz)
 Scale to apply to the object in each axis (default=1) More...
 
float getScaleX () const
 Get the current scaling factor in one axis. More...
 
float getScaleY () const
 Get the current scaling factor in one axis. More...
 
float getScaleZ () const
 Get the current scaling factor in one axis. More...
 
mrpt::utils::TColorf getColor () const
 Returns the object color property as a TColorf. More...
 
CRenderizablesetColor (const mrpt::utils::TColorf &c)
 
CRenderizablesetColor (double R, double G, double B, double A=1)
 Set the color components of this object (R,G,B,Alpha, in the range 0-1) More...
 
const mrpt::utils::TColorgetColor_u8 () const
 Returns the object color property as a TColor. More...
 
CRenderizablesetColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
 Set the color components of this object (R,G,B,Alpha, in the range 0-255) More...
 
RTTI classes and functions
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static void renderTextBitmap (const char *str, void *fontStyle)
 This method is safe for calling from within ::render() methods. More...
 
static void renderTextBitmap (int screen_x, int screen_y, const std::string &str, float color_r=1, float color_g=1, float color_b=1, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
 Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods) More...
 
static int textBitmapWidth (const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
 Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap(). More...
 
pose_pdf -> 3d objects auxiliary templates
static CSetOfObjectsPtr posePDF2opengl (const mrpt::poses::CPosePDF &o)
 Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPosePDF::getAs3DObject. More...
 
static CSetOfObjectsPtr posePDF2opengl (const mrpt::poses::CPointPDF &o)
 Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPointPDF::getAs3DObject. More...
 
static CSetOfObjectsPtr posePDF2opengl (const mrpt::poses::CPose3DPDF &o)
 Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPose3DPDF::getAs3DObject. More...
 
static CSetOfObjectsPtr posePDF2opengl (const mrpt::poses::CPose3DQuatPDF &o)
 Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPose3DQuatPDF::getAs3DObject. More...
 

Static Public Attributes

static const mrpt::utils::TRuntimeClassId classCObject
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCRenderizable
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCSerializable
 

Protected Member Functions

void writeToStreamRender (utils::CStream &out) const
 
void readFromStreamRender (utils::CStream &in)
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 

Static Protected Member Functions

static void checkOpenGLError ()
 Checks glGetError and throws an exception if an error situation is found. More...
 
static unsigned int getNewTextureNumber ()
 Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool). More...
 
static void releaseTextureName (unsigned int i)
 

Protected Attributes

CListOpenGLObjects m_objects
 The list of child objects. More...
 
std::string m_name
 
bool m_show_name
 
mrpt::utils::TColor m_color
 Color components in the range [0,255]. More...
 
mrpt::poses::CPose3D m_pose
 6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack. More...
 
float m_scale_x
 
float m_scale_y
 
float m_scale_z
 Scale components to apply to the object (default=1) More...
 
bool m_visible
 Is the object visible? (default=true) More...
 

Private Member Functions

 CSetOfObjects ()
 Default constructor. More...
 
virtual ~CSetOfObjects ()
 Private, virtual destructor: only can be deleted from smart pointers. More...
 

RTTI stuff

typedef CSetOfObjectsPtr Ptr
 
typedef CSetOfObjectsPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CSetOfObjects
 
static mrpt::utils::TRuntimeClassId classCSetOfObjects
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CSetOfObjectsPtr Create ()
 

Member Typedef Documentation

◆ const_iterator

typedef CListOpenGLObjects::const_iterator mrpt::opengl::CSetOfObjects::const_iterator

Definition at line 44 of file CSetOfObjects.h.

◆ ConstPtr

typedef CSetOfObjectsPtr mrpt::opengl::CSetOfObjects::ConstPtr

Definition at line 34 of file CSetOfObjects.h.

◆ iterator

typedef CListOpenGLObjects::iterator mrpt::opengl::CSetOfObjects::iterator

Definition at line 45 of file CSetOfObjects.h.

◆ Ptr

typedef CSetOfObjectsPtr mrpt::opengl::CSetOfObjects::Ptr

A typedef for the associated smart pointer

Definition at line 34 of file CSetOfObjects.h.

Constructor & Destructor Documentation

◆ CSetOfObjects()

CSetOfObjects::CSetOfObjects ( )
private

Default constructor.

Definition at line 116 of file CSetOfObjects.cpp.

◆ ~CSetOfObjects()

CSetOfObjects::~CSetOfObjects ( )
privatevirtual

Private, virtual destructor: only can be deleted from smart pointers.

Definition at line 121 of file CSetOfObjects.cpp.

References mrpt::utils::clear().

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CSetOfObjects::_GetBaseClass ( )
staticprotected

◆ begin() [1/2]

const_iterator mrpt::opengl::CSetOfObjects::begin ( ) const
inline

Definition at line 47 of file CSetOfObjects.h.

◆ begin() [2/2]

iterator mrpt::opengl::CSetOfObjects::begin ( )
inline

Definition at line 49 of file CSetOfObjects.h.

◆ checkOpenGLError()

void CRenderizable::checkOpenGLError ( )
staticprotectedinherited

◆ clear()

void CSetOfObjects::clear ( )

Clear the list of objects in the scene, deleting objects' memory.

Definition at line 37 of file CSetOfObjects.cpp.

Referenced by mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_get_graphics_boundingboxes().

◆ clone()

CRenderizable* mrpt::opengl::CRenderizable::clone ( ) const
inlineinherited

Interface for the smart pointer class.

Definition at line 150 of file CRenderizable.h.

◆ contains()

bool CSetOfObjects::contains ( const CRenderizablePtr &  obj) const

Definition at line 205 of file CSetOfObjects.cpp.

References mrpt::utils::find().

◆ Create()

static CSetOfObjectsPtr mrpt::opengl::CSetOfObjects::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::opengl::CSetOfObjects::CreateObject ( )
static

◆ dumpListOfObjects()

void CSetOfObjects::dumpListOfObjects ( mrpt::utils::CStringList lst)

Retrieves a list of all objects in text form.

Definition at line 139 of file CSetOfObjects.cpp.

References mrpt::utils::CStringList::add(), CLASS_ID_NAMESPACE, dumpListOfObjects(), and mrpt::utils::CStringList::size().

Referenced by dumpListOfObjects().

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::opengl::CSetOfObjects::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ empty()

bool mrpt::opengl::CSetOfObjects::empty ( ) const
inline

Returns true if there are no objects.

Definition at line 79 of file CSetOfObjects.h.

◆ enableShowName()

void mrpt::opengl::CRenderizable::enableShowName ( bool  showName = true)
inlineinherited

Enables or disables showing the name of the object as a label when rendering.

Definition at line 69 of file CRenderizable.h.

◆ end() [1/2]

const_iterator mrpt::opengl::CSetOfObjects::end ( ) const
inline

Definition at line 48 of file CSetOfObjects.h.

◆ end() [2/2]

iterator mrpt::opengl::CSetOfObjects::end ( )
inline

Definition at line 50 of file CSetOfObjects.h.

◆ getBoundingBox()

void CSetOfObjects::getBoundingBox ( mrpt::math::TPoint3D bb_min,
mrpt::math::TPoint3D bb_max 
) const
virtual

Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent.

Implements mrpt::opengl::CRenderizable.

Definition at line 251 of file CSetOfObjects.cpp.

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

◆ getByClass()

template<typename T >
T::Ptr mrpt::opengl::CSetOfObjects::getByClass ( const size_t &  ith = 0) const

Returns the i'th object of a given class (or of a descendant class), or NULL (an empty smart pointer) if not found.

Example:

CSpherePtr obs = myscene.getByClass<CSphere>();

By default (ith=0), the first observation is returned.

Definition at line 167 of file CSetOfObjects.h.

References CLASS_ID_NAMESPACE, m_objects, MRPT_END, and MRPT_START.

◆ getByName()

CRenderizablePtr CSetOfObjects::getByName ( const std::string str)

Returns the first object with a given name, or a NULL pointer if not found.

Definition at line 233 of file CSetOfObjects.cpp.

References CLASS_ID_NAMESPACE.

◆ getColor()

mrpt::utils::TColorf mrpt::opengl::CRenderizable::getColor ( ) const
inlineinherited

Returns the object color property as a TColorf.

Definition at line 126 of file CRenderizable.h.

Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), and mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels().

◆ getColor_u8()

const mrpt::utils::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const
inlineinherited

Returns the object color property as a TColor.

Definition at line 135 of file CRenderizable.h.

◆ getColorA()

double mrpt::opengl::CRenderizable::getColorA ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 102 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getColorA_u8()

uint8_t mrpt::opengl::CRenderizable::getColorA_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 107 of file CRenderizable.h.

◆ getColorB()

double mrpt::opengl::CRenderizable::getColorB ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 101 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getColorB_u8()

uint8_t mrpt::opengl::CRenderizable::getColorB_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 106 of file CRenderizable.h.

◆ getColorG()

double mrpt::opengl::CRenderizable::getColorG ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 100 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getColorG_u8()

uint8_t mrpt::opengl::CRenderizable::getColorG_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 105 of file CRenderizable.h.

◆ getColorR()

double mrpt::opengl::CRenderizable::getColorR ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 99 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getColorR_u8()

uint8_t mrpt::opengl::CRenderizable::getColorR_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 104 of file CRenderizable.h.

◆ getName()

const std::string& mrpt::opengl::CRenderizable::getName ( ) const
inlineinherited

Returns the name of the object.

Definition at line 64 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getNewTextureNumber()

unsigned int CRenderizable::getNewTextureNumber ( )
staticprotectedinherited

Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).

Returns the lowest, free texture name.

Definition at line 77 of file CRenderizable.cpp.

References TOpenGLNameBooker::instance(), MAX_GL_TEXTURE_IDS, MAX_GL_TEXTURE_IDS_MASK, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

Referenced by mrpt::opengl::CTexturedObject::loadTextureInOpenGL().

◆ getPose()

mrpt::math::TPose3D CRenderizable::getPose ( ) const
inherited

Returns the 3D pose of the object as TPose3D.

Definition at line 321 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

◆ getPosePitch()

double mrpt::opengl::CRenderizable::getPosePitch ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 93 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

◆ getPosePitchRad()

double mrpt::opengl::CRenderizable::getPosePitchRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 96 of file CRenderizable.h.

◆ getPoseRef()

const mrpt::poses::CPose3D& mrpt::opengl::CRenderizable::getPoseRef ( ) const
inlineinherited

Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix)

Definition at line 81 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getPoseRoll()

double mrpt::opengl::CRenderizable::getPoseRoll ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 94 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

◆ getPoseRollRad()

double mrpt::opengl::CRenderizable::getPoseRollRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 97 of file CRenderizable.h.

◆ getPoseX()

double mrpt::opengl::CRenderizable::getPoseX ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 89 of file CRenderizable.h.

◆ getPoseY()

double mrpt::opengl::CRenderizable::getPoseY ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 90 of file CRenderizable.h.

◆ getPoseYaw()

double mrpt::opengl::CRenderizable::getPoseYaw ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 92 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

◆ getPoseYawRad()

double mrpt::opengl::CRenderizable::getPoseYawRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 95 of file CRenderizable.h.

◆ getPoseZ()

double mrpt::opengl::CRenderizable::getPoseZ ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 91 of file CRenderizable.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::opengl::CSetOfObjects::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizable.

◆ getScaleX()

float mrpt::opengl::CRenderizable::getScaleX ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 121 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getScaleY()

float mrpt::opengl::CRenderizable::getScaleY ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 122 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getScaleZ()

float mrpt::opengl::CRenderizable::getScaleZ ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 123 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ initializeAllTextures()

void CSetOfObjects::initializeAllTextures ( )

Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL)

Definition at line 101 of file CSetOfObjects.cpp.

References IS_CLASS, and IS_DERIVED.

◆ insert() [1/2]

void CSetOfObjects::insert ( const CRenderizablePtr &  newObject)

Insert a new object to the list.

Definition at line 127 of file CSetOfObjects.cpp.

References ASSERTMSG_.

Referenced by mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_get_graphics_boundingboxes().

◆ insert() [2/2]

template<class T_it >
void mrpt::opengl::CSetOfObjects::insert ( const T_it &  begin,
const T_it &  end 
)
inline

Inserts a set of objects, bounded by iterators, into the list.

Definition at line 63 of file CSetOfObjects.h.

References begin().

◆ insertCollection()

template<class T >
void mrpt::opengl::CSetOfObjects::insertCollection ( const T &  objs)
inline

Inserts a set of objects into the list.

Definition at line 54 of file CSetOfObjects.h.

◆ isShowNameEnabled()

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const
inlineinherited
See also
enableShowName

Definition at line 70 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ isVisible()

bool mrpt::opengl::CRenderizable::isVisible ( ) const
inlineinherited

Is the object visible?

See also
setVisibility

Definition at line 66 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ operator delete() [1/3]

void mrpt::opengl::CSetOfObjects::operator delete ( void ptr)
throw (
)
inline

Definition at line 34 of file CSetOfObjects.h.

◆ operator delete() [2/3]

void mrpt::opengl::CSetOfObjects::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 34 of file CSetOfObjects.h.

◆ operator delete() [3/3]

void mrpt::opengl::CSetOfObjects::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 34 of file CSetOfObjects.h.

◆ operator delete[]()

void mrpt::opengl::CSetOfObjects::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 34 of file CSetOfObjects.h.

◆ operator new() [1/3]

static void* mrpt::opengl::CSetOfObjects::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 34 of file CSetOfObjects.h.

◆ operator new() [2/3]

void* mrpt::opengl::CSetOfObjects::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 34 of file CSetOfObjects.h.

◆ operator new() [3/3]

void* mrpt::opengl::CSetOfObjects::operator new ( size_t  size)
inline

Definition at line 34 of file CSetOfObjects.h.

◆ operator new[]()

void* mrpt::opengl::CSetOfObjects::operator new[] ( size_t  size)
inline

Definition at line 34 of file CSetOfObjects.h.

◆ posePDF2opengl() [1/4]

CSetOfObjectsPtr CSetOfObjects::posePDF2opengl ( const mrpt::poses::CPosePDF o)
static

◆ posePDF2opengl() [2/4]

CSetOfObjectsPtr CSetOfObjects::posePDF2opengl ( const mrpt::poses::CPointPDF o)
static

Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPointPDF::getAs3DObject.

Definition at line 126 of file pose_pdfs.cpp.

References mrpt::opengl::CEllipsoid::Create(), mrpt::opengl::CPointCloud::Create(), IS_CLASS, and POINT_COLOR.

◆ posePDF2opengl() [3/4]

CSetOfObjectsPtr CSetOfObjects::posePDF2opengl ( const mrpt::poses::CPose3DPDF o)
static

Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPose3DPDF::getAs3DObject.

Definition at line 184 of file pose_pdfs.cpp.

References mrpt::opengl::stock_objects::CornerXYZ(), mrpt::opengl::stock_objects::CornerXYZSimple(), mrpt::opengl::CEllipsoid::Create(), IS_CLASS, POSE_AXIS_SCALE, and POSE_COLOR.

◆ posePDF2opengl() [4/4]

CSetOfObjectsPtr CSetOfObjects::posePDF2opengl ( const mrpt::poses::CPose3DQuatPDF o)
static

Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPose3DQuatPDF::getAs3DObject.

Definition at line 252 of file pose_pdfs.cpp.

References mrpt::opengl::stock_objects::CornerXYZ(), mrpt::opengl::CEllipsoid::Create(), IS_CLASS, POSE_AXIS_SCALE, and POSE_COLOR.

◆ readFromStream()

void CSetOfObjects::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 75 of file CSetOfObjects.cpp.

References mrpt::utils::clear(), MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ readFromStreamRender()

void CRenderizable::readFromStreamRender ( utils::CStream in)
protectedinherited

◆ releaseTextureName()

void CRenderizable::releaseTextureName ( unsigned int  i)
staticprotectedinherited

◆ removeObject()

void CSetOfObjects::removeObject ( const CRenderizablePtr &  obj)

Removes the given object from the scene (it also deletes the object to free its memory).

Definition at line 164 of file CSetOfObjects.cpp.

References CLASS_ID_NAMESPACE.

◆ render()

void CSetOfObjects::render ( ) const
virtual

Render child objects.

Implements mrpt::opengl::CRenderizable.

Definition at line 45 of file CSetOfObjects.cpp.

References mrpt::opengl::gl_utils::renderSetOfObjects().

◆ renderTextBitmap() [1/2]

void CRenderizable::renderTextBitmap ( const char *  str,
void fontStyle 
)
staticinherited

This method is safe for calling from within ::render() methods.

See also
renderTextBitmap, mrpt::opengl::gl_utils
renderTextBitmap

Definition at line 351 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::renderTextBitmap().

◆ renderTextBitmap() [2/2]

void CRenderizable::renderTextBitmap ( int  screen_x,
int  screen_y,
const std::string str,
float  color_r = 1,
float  color_g = 1,
float  color_b = 1,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
staticinherited

Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)

  • Coordinates (x,y) are 2D pixels, starting at bottom-left of the viewport. Negative numbers will wrap to the opposite side of the viewport (e.g. x=-10 means 10px fromt the right).
  • The text color is defined by (color_r,color_g,color_b), each float numbers in the range [0,1].
    See also
    renderTextBitmap, textBitmapWidth, mrpt::opengl::gl_utils

Definition at line 286 of file gl_utils.cpp.

References aux_mrptfont2glutfont(), GL_DEPTH_TEST, GL_MODELVIEW, GL_PROJECTION, GL_TRANSFORM_BIT, GL_VIEWPORT, GL_VIEWPORT_BIT, glColor3f(), glDisable(), glEnable(), glGetIntegerv(), glLoadIdentity(), glMatrixMode(), glPopAttrib(), glPopMatrix(), glPushAttrib(), glPushMatrix(), glRasterPos3f(), glViewport(), and MRPT_UNUSED_PARAM.

◆ setColor() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf c)
inlineinherited
Parameters
cChanges the default object color
Returns
a ref to this

Definition at line 127 of file CRenderizable.h.

◆ setColor() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( double  R,
double  G,
double  B,
double  A = 1 
)
inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns
a ref to this

Definition at line 133 of file CRenderizable.h.

References R.

◆ setColor_u8() [1/2]

CRenderizable & CSetOfObjects::setColor_u8 ( const mrpt::utils::TColor c)
virtual

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 199 of file CSetOfObjects.cpp.

◆ setColor_u8() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor_u8 ( uint8_t  R,
uint8_t  G,
uint8_t  B,
uint8_t  A = 255 
)
inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-255)

Returns
a ref to this

Definition at line 140 of file CRenderizable.h.

References R, and mrpt::opengl::CRenderizable::setColor_u8().

Referenced by mrpt::opengl::CRenderizable::setColor_u8().

◆ setColorA()

CRenderizable& mrpt::opengl::CRenderizable::setColorA ( const double  a)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 112 of file CRenderizable.h.

◆ setColorA_u8()

CRenderizable & CSetOfObjects::setColorA_u8 ( const uint8_t  a)
virtual

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 224 of file CSetOfObjects.cpp.

References mrpt::opengl::CRenderizable::setColorA_u8().

◆ setColorB()

CRenderizable& mrpt::opengl::CRenderizable::setColorB ( const double  b)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 111 of file CRenderizable.h.

◆ setColorB_u8()

CRenderizable & CSetOfObjects::setColorB_u8 ( const uint8_t  b)
virtual

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 219 of file CSetOfObjects.cpp.

References mrpt::opengl::CRenderizable::setColorB_u8().

◆ setColorG()

CRenderizable& mrpt::opengl::CRenderizable::setColorG ( const double  g)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 110 of file CRenderizable.h.

◆ setColorG_u8()

CRenderizable & CSetOfObjects::setColorG_u8 ( const uint8_t  g)
virtual

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 214 of file CSetOfObjects.cpp.

References mrpt::opengl::CRenderizable::setColorG_u8().

◆ setColorR()

CRenderizable& mrpt::opengl::CRenderizable::setColorR ( const double  r)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 109 of file CRenderizable.h.

◆ setColorR_u8()

CRenderizable & CSetOfObjects::setColorR_u8 ( const uint8_t  r)
virtual

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 209 of file CSetOfObjects.cpp.

References mrpt::opengl::CRenderizable::setColorR_u8().

◆ setLocation() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( double  x,
double  y,
double  z 
)
inlineinherited

Changes the location of the object, keeping untouched the orientation.

Returns
a ref to this

Definition at line 84 of file CRenderizable.h.

◆ setLocation() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( const mrpt::math::TPoint3D p)
inlineinherited

Changes the location of the object, keeping untouched the orientation.

Returns
a ref to this

Definition at line 87 of file CRenderizable.h.

◆ setName()

void mrpt::opengl::CRenderizable::setName ( const std::string n)
inlineinherited

Changes the name of the object.

Definition at line 63 of file CRenderizable.h.

◆ setPose() [1/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose3D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Definition at line 285 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

◆ setPose() [2/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose2D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Definition at line 290 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

◆ setPose() [3/6]

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose3D o)
inherited

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

Definition at line 295 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

◆ setPose() [4/6]

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose2D o)
inherited

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

Definition at line 300 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

◆ setPose() [5/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint3D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Parameters
oSet the 3D pose from a mrpt::poses::CPose3D object

Definition at line 306 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ setPose() [6/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint2D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Parameters
oSet the 3D pose from a mrpt::poses::CPose3D object

Definition at line 311 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ setScale() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float  s)
inlineinherited

Scale to apply to the object, in all three axes (default=1)

Returns
a ref to this

Definition at line 119 of file CRenderizable.h.

Referenced by mrpt::opengl::CText3D::CText3D().

◆ setScale() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float  sx,
float  sy,
float  sz 
)
inlineinherited

Scale to apply to the object in each axis (default=1)

Returns
a ref to this

Definition at line 120 of file CRenderizable.h.

◆ setVisibility()

void mrpt::opengl::CRenderizable::setVisibility ( bool  visible = true)
inlineinherited

Set object visibility (default=true)

See also
isVisible

Definition at line 67 of file CRenderizable.h.

◆ size()

size_t mrpt::opengl::CSetOfObjects::size ( )
inline

Returns number of objects.

Definition at line 76 of file CSetOfObjects.h.

◆ textBitmapWidth()

int CRenderizable::textBitmapWidth ( const std::string str,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
staticinherited

Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().

See also
renderTextBitmap, mrpt::opengl::gl_utils
renderTextBitmap

Definition at line 359 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::textBitmapWidth().

◆ traceRay()

bool CSetOfObjects::traceRay ( const mrpt::poses::CPose3D o,
double &  dist 
) const
virtual

Simulation of ray-trace, given a pose.

Returns true if the ray effectively collisions with the object (returning the distance to the origin of the ray in "dist"), or false in other case. "dist" variable yields undefined behaviour when false is returned

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 176 of file CSetOfObjects.cpp.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

void CSetOfObjects::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 55 of file CSetOfObjects.cpp.

References version.

◆ writeToStreamRender()

void CRenderizable::writeToStreamRender ( utils::CStream out) const
protectedinherited

Member Data Documentation

◆ _init_CSetOfObjects

mrpt::utils::CLASSINIT mrpt::opengl::CSetOfObjects::_init_CSetOfObjects
staticprotected

Definition at line 34 of file CSetOfObjects.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 118 of file CObject.h.

◆ classCRenderizable

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizable::classCRenderizable
staticinherited

Definition at line 46 of file CRenderizable.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

◆ classCSetOfObjects

mrpt::utils::TRuntimeClassId mrpt::opengl::CSetOfObjects::classCSetOfObjects
static

Definition at line 34 of file CSetOfObjects.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::opengl::CSetOfObjects::classinfo
static

Definition at line 34 of file CSetOfObjects.h.

◆ m_color

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color
protectedinherited

◆ m_name

std::string mrpt::opengl::CRenderizable::m_name
protectedinherited

◆ m_objects

CListOpenGLObjects mrpt::opengl::CSetOfObjects::m_objects
protected

The list of child objects.

Objects are automatically deleted when calling "clear" or in the destructor.

Definition at line 40 of file CSetOfObjects.h.

Referenced by getByClass().

◆ m_pose

mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose
protectedinherited

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x
protectedinherited

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y
protectedinherited

◆ m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z
protectedinherited

Scale components to apply to the object (default=1)

Definition at line 56 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name
protectedinherited

◆ m_visible

bool mrpt::opengl::CRenderizable::m_visible
protectedinherited

Is the object visible? (default=true)

Definition at line 57 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().




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