MRPT
1.9.9
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A mesh built from a set of 2D laser scan observations.
Each element of this set is a single scan through the yaw, given a specific pitch. Each scan has a mrpt::poses::CPose3D identifying the origin of the scan, which ideally is the same for every one of them.
Definition at line 41 of file CAngularObservationMesh.h.
#include <mrpt/opengl/CAngularObservationMesh.h>
Classes | |
class | FTrace1D |
Internal functor class to trace a ray. More... | |
class | FTrace2D |
Internal functor class to trace a set of rays. More... | |
struct | TDoubleRange |
Range specification type, with several uses. More... | |
Public Member Functions | |
void | getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const override |
Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More... | |
CAngularObservationMesh () | |
Basic constructor. More... | |
~CAngularObservationMesh () override=default | |
Empty destructor. More... | |
bool | isWireframe () const |
Returns whether the object is configured as wireframe or solid. More... | |
void | setWireframe (bool enabled=true) |
Sets the display mode for the object. More... | |
bool | isTransparencyEnabled () const |
Returns whether the object may be transparent or not. More... | |
void | enableTransparency (bool enabled=true) |
Enables or disables transparencies. More... | |
void | render_dl () const override |
Renderizes the object. More... | |
bool | traceRay (const mrpt::poses::CPose3D &o, double &dist) const override |
Traces a ray to the object, returning the distance to a given pose through its X axis. More... | |
void | setPitchBounds (const double initial, const double final) |
Sets the pitch bounds for this range. More... | |
void | setPitchBounds (const std::vector< double > &bounds) |
Sets the pitch bounds for this range. More... | |
void | getPitchBounds (double &initial, double &final) const |
Gets the initial and final pitch bounds for this range. More... | |
void | getPitchBounds (std::vector< double > &bounds) const |
Gets the pitch bounds for this range. More... | |
void | getScanSet (std::vector< mrpt::obs::CObservation2DRangeScan > &scans) const |
Gets the scan set. More... | |
bool | setScanSet (const std::vector< mrpt::obs::CObservation2DRangeScan > &scans) |
Sets the scan set. More... | |
void | generateSetOfTriangles (CSetOfTriangles::Ptr &res) const |
Gets the mesh as a set of triangles, for displaying them. More... | |
void | generatePointCloud (mrpt::maps::CPointsMap *out_map) const |
Returns the scanned points as a 3D point cloud. More... | |
void | getTracedRays (CSetOfLines::Ptr &res) const |
Gets a set of lines containing the traced rays, for displaying them. More... | |
void | getUntracedRays (CSetOfLines::Ptr &res, double dist) const |
Gets a set of lines containing the untraced rays, up to a specified distance, for displaying them. More... | |
void | generateSetOfTriangles (std::vector< mrpt::math::TPolygon3D > &res) const |
Gets the mesh as a set of polygons, to work with them. More... | |
void | getActualMesh (mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data > &pts, mrpt::math::CMatrixBool &validity) const |
Retrieves the full mesh, along with the validity matrix. More... | |
void | render () const override |
Render the object, regenerating the display list if needed, otherwise just calling it. More... | |
virtual mxArray * | writeToMatlab () 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 (methods from | |
CRenderizable that need to be redefined) | |
CRenderizable & | setColorR_u8 (const uint8_t r) override |
Color components in the range [0,255]. More... | |
CRenderizable & | setColorG_u8 (const uint8_t g) override |
Color components in the range [0,255]. More... | |
CRenderizable & | setColorB_u8 (const uint8_t b) override |
Color components in the range [0,255]. More... | |
CRenderizable & | setColorA_u8 (const uint8_t a) override |
Color components in the range [0,255]. More... | |
CRenderizable & | setColor_u8 (const mrpt::img::TColor &c) override |
Changes the default object color. More... | |
CRenderizable & | setColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255) |
Color components in the range [0,255]. More... | |
Changes the appearance of the object to render | |
void | setName (const std::string &n) |
Changes the name of the object. More... | |
const std::string & | getName () 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 |
CRenderizable & | setPose (const mrpt::poses::CPose3D &o) |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More... | |
CRenderizable & | setPose (const mrpt::poses::CPose2D &o) |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More... | |
CRenderizable & | setPose (const mrpt::math::TPose3D &o) |
Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More... | |
CRenderizable & | setPose (const mrpt::math::TPose2D &o) |
Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More... | |
CRenderizable & | setPose (const mrpt::poses::CPoint3D &o) |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More... | |
CRenderizable & | setPose (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::CPose3D & | getPoseRef () const |
Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More... | |
CRenderizable & | setLocation (double x, double y, double z) |
Changes the location of the object, keeping untouched the orientation. More... | |
CRenderizable & | setLocation (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... | |
CRenderizable & | setColorR (const double r) |
Color components in the range [0,1]. More... | |
CRenderizable & | setColorG (const double g) |
Color components in the range [0,1]. More... | |
CRenderizable & | setColorB (const double b) |
Color components in the range [0,1]. More... | |
CRenderizable & | setColorA (const double a) |
Color components in the range [0,1]. More... | |
CRenderizable & | setScale (float s) |
Scale to apply to the object, in all three axes (default=1) More... | |
CRenderizable & | setScale (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::img::TColorf | getColor () const |
Returns the object color property as a TColorf. More... | |
CRenderizable & | setColor (const mrpt::img::TColorf &c) |
Changes the default object color. More... | |
CRenderizable & | setColor (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::img::TColor & | getColor_u8 () const |
Returns the object color property as a TColor. More... | |
RTTI classes and functions for polymorphic hierarchies | |
mrpt::rtti::CObject::Ptr | duplicateGetSmartPtr () const |
Makes a deep copy of the object and returns a smart pointer to it. More... | |
Static Public Member Functions | |
template<class T > | |
static void | trace2DSetOfRays (const T &e, const mrpt::poses::CPose3D &initial, CAngularObservationMesh::Ptr &caom, const TDoubleRange &pitchs, const TDoubleRange &yaws) |
2D ray tracing (will generate a 3D mesh). More... | |
template<class T > | |
static void | trace1DSetOfRays (const T &e, const mrpt::poses::CPose3D &initial, mrpt::obs::CObservation2DRangeScan &obs, const TDoubleRange &yaws) |
2D ray tracing (will generate a vectorial mesh inside a plane). More... | |
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... | |
Protected Member Functions | |
void | updateMesh () const |
Updates the mesh, if needed. More... | |
void | addTriangle (const mrpt::math::TPoint3D &p1, const mrpt::math::TPoint3D &p2, const mrpt::math::TPoint3D &p3) const |
Internal method to add a triangle to the mutable mesh. More... | |
void | writeToStreamRender (mrpt::serialization::CArchive &out) const |
CSerializable virtual methods | |
uint8_t | serializeGetVersion () const override |
Must return the current versioning number of the object. More... | |
void | serializeTo (mrpt::serialization::CArchive &out) const override |
Pure virtual method for writing (serializing) to an abstract archive. More... | |
void | serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override |
Pure virtual method for reading (deserializing) from an abstract archive. More... | |
Methods accesible or implemented by derived classes | |
void | notifyChange () const |
Must be called to notify that the object has changed (so, the display list must be updated) More... | |
virtual bool | should_skip_display_list_cache () const |
Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases. More... | |
void | readFromStreamRender (mrpt::serialization::CArchive &in) |
CSerializable virtual methods | |
virtual void | serializeTo (CSchemeArchiveBase &out) const |
Virtual method for writing (serializing) to an abstract schema based archive. More... | |
virtual void | serializeFrom (CSchemeArchiveBase &in) |
Virtual method for reading (deserializing) from an abstract schema based archive. 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 | |
std::vector< CSetOfTriangles::TTriangle > | triangles |
Actual set of triangles to be displayed. More... | |
bool | mWireframe {true} |
Whether the mesh will be displayed wireframe or solid. More... | |
bool | meshUpToDate {false} |
Mutable variable which controls if the object has suffered any change since last time the mesh was updated. More... | |
bool | mEnableTransparency {true} |
Whether the object may present transparencies or not. More... | |
mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data > | actualMesh |
Mutable object with the mesh's points. More... | |
mrpt::math::CMatrixB | validityMatrix |
Scan validity matrix. More... | |
std::vector< double > | pitchBounds |
Observation pitch range. More... | |
std::vector< mrpt::obs::CObservation2DRangeScan > | scanSet |
Actual scan set which is used to generate the mesh. More... | |
std::string | m_name |
bool | m_show_name {false} |
mrpt::img::TColor | m_color |
Color components in the range [0,255]. More... | |
mrpt::poses::CPose3D | m_pose |
6D pose wrt the parent coordinate reference. More... | |
float | m_scale_x {1} |
Scale components to apply to the object (default=1) More... | |
float | m_scale_y {1} |
float | m_scale_z {1} |
bool | m_visible {true} |
Is the object visible? (default=true) More... | |
RTTI stuff | |
using | Ptr = std::shared_ptr< CAngularObservationMesh > |
using | ConstPtr = std::shared_ptr< const CAngularObservationMesh > |
using | UniquePtr = std::unique_ptr< CAngularObservationMesh > |
using | ConstUniquePtr = std::unique_ptr< const CAngularObservationMesh > |
static mrpt::rtti::CLASSINIT | _init_CAngularObservationMesh |
static const mrpt::rtti::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "CAngularObservationMesh" |
static const mrpt::rtti::TRuntimeClassId * | _GetBaseClass () |
static constexpr auto | getClassName () |
static const mrpt::rtti::TRuntimeClassId & | GetRuntimeClassIdStatic () |
static std::shared_ptr< CObject > | CreateObject () |
template<typename... Args> | |
static Ptr | Create (Args &&... args) |
template<typename Alloc , typename... Args> | |
static Ptr | CreateAlloc (const Alloc &alloc, Args &&... args) |
template<typename... Args> | |
static UniquePtr | CreateUnique (Args &&... args) |
virtual const mrpt::rtti::TRuntimeClassId * | GetRuntimeClass () const override |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::rtti::CObject * | clone () const override |
Returns a deep copy (clone) of the object, indepently of its class. More... | |
using mrpt::opengl::CAngularObservationMesh::ConstPtr = std::shared_ptr<const CAngularObservationMesh > |
Definition at line 43 of file CAngularObservationMesh.h.
using mrpt::opengl::CAngularObservationMesh::ConstUniquePtr = std::unique_ptr<const CAngularObservationMesh > |
Definition at line 43 of file CAngularObservationMesh.h.
A type for the associated smart pointer
Definition at line 43 of file CAngularObservationMesh.h.
using mrpt::opengl::CAngularObservationMesh::UniquePtr = std::unique_ptr< CAngularObservationMesh > |
Definition at line 43 of file CAngularObservationMesh.h.
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inline |
Basic constructor.
Definition at line 328 of file CAngularObservationMesh.h.
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overridedefault |
Empty destructor.
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staticprotected |
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protected |
Internal method to add a triangle to the mutable mesh.
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staticprotectedinherited |
Checks glGetError and throws an exception if an error situation is found.
Definition at line 295 of file CRenderizable.cpp.
References mrpt::opengl::gl_utils::checkOpenGLError().
Referenced by mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), and mrpt::opengl::CPolyhedron::render_dl().
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::rtti::CObject.
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inlinestatic |
Definition at line 43 of file CAngularObservationMesh.h.
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inlinestatic |
Definition at line 43 of file CAngularObservationMesh.h.
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static |
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inlinestatic |
Definition at line 43 of file CAngularObservationMesh.h.
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inlineinherited |
Makes a deep copy of the object and returns a smart pointer to it.
Definition at line 200 of file CObject.h.
References mrpt::rtti::CObject::clone().
Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().
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inlineinherited |
Enables or disables showing the name of the object as a label when rendering.
Definition at line 82 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_show_name.
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inline |
Enables or disables transparencies.
Definition at line 353 of file CAngularObservationMesh.h.
References mEnableTransparency, and mrpt::opengl::CRenderizableDisplayList::notifyChange().
void CAngularObservationMesh::generatePointCloud | ( | mrpt::maps::CPointsMap * | out_map | ) | const |
Returns the scanned points as a 3D point cloud.
The target pointmap must be passed as a pointer to allow the use of any derived class.
Definition at line 289 of file CAngularObservationMesh.cpp.
References ASSERT_, and mrpt::maps::CMetricMap::clear().
void CAngularObservationMesh::generateSetOfTriangles | ( | CSetOfTriangles::Ptr & | res | ) | const |
Gets the mesh as a set of triangles, for displaying them.
Definition at line 270 of file CAngularObservationMesh.cpp.
void CAngularObservationMesh::generateSetOfTriangles | ( | std::vector< mrpt::math::TPolygon3D > & | res | ) | const |
Gets the mesh as a set of polygons, to work with them.
Definition at line 418 of file CAngularObservationMesh.cpp.
References createFromTriangle().
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inline |
Retrieves the full mesh, along with the validity matrix.
Definition at line 425 of file CAngularObservationMesh.h.
References actualMesh, meshUpToDate, updateMesh(), and validityMatrix.
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overridevirtual |
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 427 of file CAngularObservationMesh.cpp.
References bb_max, bb_min, mrpt::keep_max(), and mrpt::keep_min().
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inlinestatic |
Definition at line 43 of file CAngularObservationMesh.h.
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inlineinherited |
Returns the object color property as a TColorf.
Definition at line 231 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_color.
Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels(), and mrpt::maps::COccupancyGridMap3D::getAsOctoMapVoxels().
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inlineinherited |
Returns the object color property as a TColor.
Definition at line 250 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_color.
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inlineinherited |
Color components in the range [0,1].
Definition at line 154 of file CRenderizable.h.
References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
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inlineinherited |
Color components in the range [0,255].
Definition at line 162 of file CRenderizable.h.
References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.
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inlineinherited |
Color components in the range [0,1].
Definition at line 152 of file CRenderizable.h.
References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
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inlineinherited |
Color components in the range [0,255].
Definition at line 160 of file CRenderizable.h.
References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.
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inlineinherited |
Color components in the range [0,1].
Definition at line 150 of file CRenderizable.h.
References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
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inlineinherited |
Color components in the range [0,255].
Definition at line 158 of file CRenderizable.h.
References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.
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inlineinherited |
Color components in the range [0,1].
Definition at line 148 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
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inlineinherited |
Color components in the range [0,255].
Definition at line 156 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.
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inlineinherited |
Returns the name of the object.
Definition at line 67 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_name.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
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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 65 of file CRenderizable.cpp.
References TOpenGLNameBooker::instance(), MAX_GL_TEXTURE_IDS, MAX_GL_TEXTURE_IDS_MASK, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.
void CAngularObservationMesh::getPitchBounds | ( | double & | initial, |
double & | final | ||
) | const |
Gets the initial and final pitch bounds for this range.
Definition at line 254 of file CAngularObservationMesh.cpp.
void CAngularObservationMesh::getPitchBounds | ( | std::vector< double > & | bounds | ) | const |
Gets the pitch bounds for this range.
Definition at line 260 of file CAngularObservationMesh.cpp.
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inherited |
Returns the 3D pose of the object as TPose3D.
Definition at line 337 of file CRenderizable.cpp.
References mrpt::poses::CPose3D::asTPose(), and mrpt::opengl::CRenderizable::m_pose.
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inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 138 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::pitch(), and mrpt::RAD2DEG().
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inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 144 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::pitch().
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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 108 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
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inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 140 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, mrpt::RAD2DEG(), and mrpt::poses::CPose3D::roll().
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inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 146 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::roll().
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inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 130 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x().
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inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 132 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
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inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 136 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, mrpt::RAD2DEG(), and mrpt::poses::CPose3D::yaw().
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inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 142 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::yaw().
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inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 134 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose.
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::opengl::CRenderizableDisplayList.
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static |
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inlineinherited |
Get the current scaling factor in one axis.
Definition at line 225 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_scale_x.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
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inlineinherited |
Get the current scaling factor in one axis.
Definition at line 227 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_scale_y.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
|
inlineinherited |
Get the current scaling factor in one axis.
Definition at line 229 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_scale_z.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
void CAngularObservationMesh::getScanSet | ( | std::vector< mrpt::obs::CObservation2DRangeScan > & | scans | ) | const |
Gets the scan set.
Definition at line 264 of file CAngularObservationMesh.cpp.
void CAngularObservationMesh::getTracedRays | ( | CSetOfLines::Ptr & | res | ) | const |
Gets a set of lines containing the traced rays, for displaying them.
Definition at line 344 of file CAngularObservationMesh.cpp.
void CAngularObservationMesh::getUntracedRays | ( | CSetOfLines::Ptr & | res, |
double | dist | ||
) | const |
Gets a set of lines containing the untraced rays, up to a specified distance, for displaying them.
Definition at line 398 of file CAngularObservationMesh.cpp.
|
inlineinherited |
Definition at line 84 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_show_name.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
|
inline |
Returns whether the object may be transparent or not.
Definition at line 349 of file CAngularObservationMesh.h.
References mEnableTransparency.
|
inlineinherited |
Is the object visible?
Definition at line 68 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_visible.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
|
inline |
Returns whether the object is configured as wireframe or solid.
Definition at line 337 of file CAngularObservationMesh.h.
References mWireframe.
|
inlineprotectedinherited |
Must be called to notify that the object has changed (so, the display list must be updated)
Definition at line 54 of file CRenderizableDisplayList.h.
References mrpt::opengl::CRenderizableDisplayList::m_dl_recreate.
Referenced by mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtEnd(), mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtStart(), mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::opengl::CMesh::adjustGridToImageAR(), mrpt::opengl::CVectorField2D::adjustVectorFieldToGrid(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CTexturedObject::assignImage(), mrpt::opengl::CMeshFast::assignImage(), mrpt::opengl::CMesh::assignImage(), mrpt::opengl::CTexturedObject::assignImage_fast(), mrpt::opengl::CMeshFast::assignImageAndZ(), mrpt::opengl::CMesh::assignImageAndZ(), mrpt::opengl::CSetOfLines::begin(), mrpt::opengl::CSetOfLines::clear(), mrpt::opengl::CVectorField2D::clear(), mrpt::opengl::CAssimpModel::clear(), mrpt::opengl::CPlanarLaserScan::clear(), mrpt::opengl::CVectorField3D::clear(), mrpt::opengl::COctoMapVoxels::clear(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::COpenGLStandardObject::disable(), mrpt::opengl::COpenGLStandardObject::enable(), mrpt::opengl::CSimpleLine::enableAntiAliasing(), mrpt::opengl::CGridPlaneXZ::enableAntiAliasing(), mrpt::opengl::CGridPlaneXY::enableAntiAliasing(), mrpt::opengl::CMesh3D::enableAntiAliasing(), mrpt::opengl::CSetOfLines::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), mrpt::opengl::CVectorField3D::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), mrpt::opengl::CMeshFast::enableColorFromZ(), mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::COctoMapVoxels::enableCubeTransparency(), mrpt::opengl::CColorBar::enableDepthTest(), mrpt::opengl::CEllipsoid::enableDrawSolid3D(), mrpt::opengl::CMesh3D::enableFaceNormals(), mrpt::opengl::COctoMapVoxels::enableLights(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CSphere::enableRadiusIndependentOfEyeDistance(), mrpt::opengl::CMesh3D::enableShowEdges(), mrpt::opengl::CMesh3D::enableShowFaces(), mrpt::opengl::CVectorField3D::enableShowPoints(), mrpt::opengl::CMesh3D::enableShowVertices(), mrpt::opengl::CPlanarLaserScan::enableSurface(), mrpt::opengl::CAxis::enableTickMarks(), mrpt::opengl::CMesh3D::enableTransparency(), mrpt::opengl::CMeshFast::enableTransparency(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CSetOfTriangles::enableTransparency(), enableTransparency(), mrpt::opengl::CMesh::enableWireFrame(), mrpt::opengl::CSetOfLines::end(), mrpt::opengl::COctoMapVoxels::getGridCubeRef(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), mrpt::opengl::COctoMapVoxels::getVoxel(), mrpt::opengl::COctoMapVoxels::getVoxelRef(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::CMesh3D::loadMesh(), mrpt::opengl::CAssimpModel::loadScene(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::opengl::CRenderizableDisplayList::readFromStreamRender(), mrpt::opengl::CTexturedObject::readFromStreamTexturedObject(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::CSetOfLines::reserve(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), mrpt::opengl::CSetOfLines::resize(), mrpt::opengl::CVectorField2D::resize(), mrpt::opengl::CVectorField3D::resize(), mrpt::opengl::COctoMapVoxels::resizeGridCubes(), mrpt::opengl::COctoMapVoxels::resizeVoxels(), mrpt::opengl::COctoMapVoxels::resizeVoxelSets(), mrpt::opengl::CSimpleLine::serializeFrom(), mrpt::opengl::CTexturedPlane::serializeFrom(), mrpt::opengl::CSetOfTriangles::serializeFrom(), mrpt::opengl::COpenGLStandardObject::serializeFrom(), mrpt::opengl::CSphere::serializeFrom(), mrpt::opengl::CArrow::serializeFrom(), mrpt::opengl::CGridPlaneXY::serializeFrom(), mrpt::opengl::CGridPlaneXZ::serializeFrom(), mrpt::opengl::CAxis::serializeFrom(), mrpt::opengl::CDisk::serializeFrom(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField2D::serializeFrom(), mrpt::opengl::CColorBar::serializeFrom(), mrpt::opengl::CMesh::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CMeshFast::serializeFrom(), mrpt::opengl::CBox::serializeFrom(), mrpt::opengl::CAssimpModel::serializeFrom(), mrpt::opengl::CText3D::serializeFrom(), mrpt::opengl::CPolyhedron::serializeFrom(), mrpt::opengl::CEllipsoid::serializeFrom(), mrpt::opengl::CFrustum::serializeFrom(), mrpt::opengl::COctoMapVoxels::serializeFrom(), mrpt::opengl::CEllipsoid::set2DsegmentsCount(), mrpt::opengl::CEllipsoid::set3DsegmentsCount(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsInvisible(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsVisible(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CArrow::setArrowYawPitchRoll(), mrpt::opengl::CGeneralizedCylinder::setAxis(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), mrpt::opengl::CBox::setBoxCorners(), mrpt::opengl::CGeneralizedCylinder::setClosed(), mrpt::opengl::CRenderizableDisplayList::setColor_u8(), mrpt::opengl::CSetOfTriangles::setColor_u8(), mrpt::opengl::CRenderizableDisplayList::setColorA_u8(), mrpt::opengl::CSetOfTriangles::setColorA_u8(), mrpt::opengl::CColorBar::setColorAndValueLimits(), mrpt::opengl::CRenderizableDisplayList::setColorB_u8(), mrpt::opengl::CSetOfTriangles::setColorB_u8(), mrpt::opengl::CRenderizableDisplayList::setColorG_u8(), mrpt::opengl::CSetOfTriangles::setColorG_u8(), mrpt::opengl::CColorBar::setColormap(), mrpt::opengl::CRenderizableDisplayList::setColorR_u8(), mrpt::opengl::CSetOfTriangles::setColorR_u8(), mrpt::opengl::CEllipsoid::setCovMatrix(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::COpenGLStandardObject::setFlags(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), mrpt::opengl::CGeneralizedCylinder::setGeneratrix(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CMeshFast::setGridLimits(), mrpt::opengl::CMesh::setGridLimits(), mrpt::opengl::CVectorField2D::setGridLimits(), mrpt::opengl::COctoMapVoxels::setGridLinesColor(), mrpt::opengl::COctoMapVoxels::setGridLinesWidth(), mrpt::opengl::CCylinder::setHasBases(), mrpt::opengl::CArrow::setHeadRatio(), mrpt::opengl::CCylinder::setHeight(), mrpt::opengl::CFrustum::setHorzFOV(), mrpt::opengl::CFrustum::setHorzFOVAsymmetric(), mrpt::opengl::CArrow::setLargeRadius(), mrpt::opengl::CSetOfLines::setLineByIndex(), mrpt::opengl::CSimpleLine::setLineCoords(), mrpt::opengl::CSimpleLine::setLineWidth(), mrpt::opengl::CGridPlaneXY::setLineWidth(), mrpt::opengl::CGridPlaneXZ::setLineWidth(), mrpt::opengl::CAxis::setLineWidth(), mrpt::opengl::CSetOfLines::setLineWidth(), mrpt::opengl::CFrustum::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CVectorField2D::setLineWidth(), mrpt::opengl::CEllipsoid::setLineWidth(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setLineWidth(), mrpt::opengl::CVectorField3D::setLineWidth(), mrpt::opengl::CDisk::setLoopsCount(), mrpt::opengl::CMesh::setMask(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::CFrustum::setNearFarPlanes(), mrpt::opengl::COpenGLStandardObject::setNormal(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CSphere::setNumberDivsLongitude(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setNumberOfSegments(), mrpt::opengl::CFrustum::setPlaneColor(), mrpt::opengl::CTexturedPlane::setPlaneCorners(), mrpt::opengl::CGridPlaneXY::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneYcoord(), mrpt::opengl::CGridPlaneXY::setPlaneZcoord(), mrpt::opengl::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CVectorField2D::setPointSize(), mrpt::opengl::CVectorField3D::setPointSize(), mrpt::opengl::CEllipsoid::setQuantiles(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setQuantiles(), mrpt::opengl::CCylinder::setRadii(), mrpt::opengl::CSphere::setRadius(), mrpt::opengl::CCylinder::setRadius(), mrpt::opengl::CPlanarLaserScan::setScan(), mrpt::opengl::CDisk::setSlicesCount(), mrpt::opengl::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CCylinder::setStacksCount(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CAxis::setTextScale(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CTexturedPlane::setTextureCornerCoords(), mrpt::opengl::CAxis::setTickMarksLength(), mrpt::opengl::CMesh::setUV(), mrpt::opengl::CVectorField2D::setVectorField(), mrpt::opengl::CVectorField3D::setVectorField(), mrpt::opengl::CVectorField2D::setVectorFieldColor(), mrpt::opengl::CVectorField3D::setVectorFieldColor(), mrpt::opengl::CFrustum::setVertFOV(), mrpt::opengl::CFrustum::setVertFOVAsymmetric(), mrpt::opengl::CSetOfLines::setVerticesPointSize(), mrpt::opengl::CGeneralizedCylinder::setVisibleSections(), mrpt::opengl::COctoMapVoxels::setVisualizationMode(), mrpt::opengl::COctoMapVoxels::setVoxelAsPointsSize(), mrpt::opengl::CBox::setWireframe(), setWireframe(), mrpt::opengl::CMeshFast::setXBounds(), mrpt::opengl::CMesh::setXBounds(), mrpt::opengl::CMeshFast::setXMax(), mrpt::opengl::CMesh::setXMax(), mrpt::opengl::CMeshFast::setXMin(), mrpt::opengl::CMesh::setXMin(), mrpt::opengl::CMeshFast::setYBounds(), mrpt::opengl::CMesh::setYBounds(), mrpt::opengl::CMeshFast::setYMax(), mrpt::opengl::CMesh::setYMax(), mrpt::opengl::CMeshFast::setYMin(), mrpt::opengl::CMesh::setYMin(), mrpt::opengl::CMeshFast::setZ(), mrpt::opengl::CMesh::setZ(), mrpt::opengl::COctoMapVoxels::showGridLines(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::showVoxelsAsPoints(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::thisclass_readFromStream(), mrpt::opengl::CMesh::updateColorsMatrix(), mrpt::opengl::CMeshFast::updateColorsMatrix(), mrpt::opengl::CMeshFast::updatePoints(), mrpt::opengl::CSetOfTriangles::updatePolygons(), mrpt::opengl::CMesh::updatePolygons(), and mrpt::opengl::CMesh::updateTriangles().
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inlineprotectedinherited |
Definition at line 62 of file CRenderizableDisplayList.h.
References mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CRenderizable::readFromStreamRender().
Referenced by mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField2D::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CBox::serializeFrom(), mrpt::opengl::CPolyhedron::serializeFrom(), mrpt::opengl::CFrustum::serializeFrom(), and mrpt::opengl::CPlanarLaserScan::serializeFrom().
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staticprotectedinherited |
Definition at line 93 of file CRenderizable.cpp.
References TOpenGLNameBooker::cs, TOpenGLNameBooker::freeTextureNames, TOpenGLNameBooker::instance(), and TOpenGLNameBooker::next_free_texture.
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overridevirtualinherited |
Render the object, regenerating the display list if needed, otherwise just calling it.
Implements mrpt::opengl::CRenderizable.
Definition at line 80 of file CRenderizableDisplayList.cpp.
References TAuxDLData::getSingleton(), GL_COMPILE, GL_NO_ERROR, glCallList(), glDeleteLists(), glEndList(), glGenLists(), glGetError(), glNewList(), INVALID_DISPLAY_LIST_ID, mrpt::opengl::CRenderizableDisplayList::m_dl, mrpt::opengl::CRenderizableDisplayList::m_dl_recreate, mrpt::opengl::CRenderizableDisplayList::render_dl(), and mrpt::opengl::CRenderizableDisplayList::should_skip_display_list_cache().
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overridevirtual |
Renderizes the object.
Implements mrpt::opengl::CRenderizableDisplayList.
This method is safe for calling from within ::render() methods.
Definition at line 361 of file CRenderizable.cpp.
References mrpt::opengl::gl_utils::renderTextBitmap().
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staticinherited |
Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)
Definition at line 332 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.
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overrideprotectedvirtual |
Pure virtual method for reading (deserializing) from an abstract archive.
Users don't call this method directly. Instead, use stream >> object;
.
in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 318 of file CAngularObservationMesh.cpp.
References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.
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inlineprotectedvirtualinherited |
Virtual method for reading (deserializing) from an abstract schema based archive.
Definition at line 74 of file CSerializable.h.
References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.
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overrideprotectedvirtual |
Must return the current versioning number of the object.
Start in zero for new classes, and increments each time there is a change in the stored format.
Implements mrpt::serialization::CSerializable.
Definition at line 309 of file CAngularObservationMesh.cpp.
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overrideprotectedvirtual |
Pure virtual method for writing (serializing) to an abstract archive.
Users don't call this method directly. Instead, use stream << object;
.
std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 310 of file CAngularObservationMesh.cpp.
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inlineprotectedvirtualinherited |
Virtual method for writing (serializing) to an abstract schema based archive.
Definition at line 64 of file CSerializable.h.
References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.
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inlineinherited |
Changes the default object color.
Definition at line 236 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColor_u8().
Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview().
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inlineinherited |
Set the color components of this object (R,G,B,Alpha, in the range 0-1)
Definition at line 244 of file CRenderizable.h.
References G, R, and mrpt::opengl::CRenderizable::setColor_u8().
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inlineoverridevirtualinherited |
Changes the default object color.
Reimplemented from mrpt::opengl::CRenderizable.
Reimplemented in mrpt::opengl::CSetOfTriangles.
Definition at line 110 of file CRenderizableDisplayList.h.
References mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CRenderizable::setColor_u8().
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inlineinherited |
Color components in the range [0,255].
Definition at line 117 of file CRenderizableDisplayList.h.
References G, mrpt::opengl::CRenderizableDisplayList::notifyChange(), R, and mrpt::opengl::CRenderizable::setColor_u8().
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inlineinherited |
Color components in the range [0,1].
Definition at line 179 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColorA_u8().
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inlineoverridevirtualinherited |
Color components in the range [0,255].
Reimplemented from mrpt::opengl::CRenderizable.
Reimplemented in mrpt::opengl::CSetOfTriangles.
Definition at line 103 of file CRenderizableDisplayList.h.
References mrpt::img::TColor::A, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().
Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().
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inlineinherited |
Color components in the range [0,1].
Definition at line 174 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColorB_u8().
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inlineoverridevirtualinherited |
Color components in the range [0,255].
Reimplemented from mrpt::opengl::CRenderizable.
Reimplemented in mrpt::opengl::CSetOfTriangles.
Definition at line 96 of file CRenderizableDisplayList.h.
References mrpt::img::TColor::B, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().
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inlineinherited |
Color components in the range [0,1].
Definition at line 169 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColorG_u8().
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inlineoverridevirtualinherited |
Color components in the range [0,255].
Reimplemented from mrpt::opengl::CRenderizable.
Reimplemented in mrpt::opengl::CSetOfTriangles.
Definition at line 89 of file CRenderizableDisplayList.h.
References mrpt::img::TColor::G, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().
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inlineinherited |
Color components in the range [0,1].
Definition at line 164 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColorR_u8().
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inlineoverridevirtualinherited |
Color components in the range [0,255].
Reimplemented from mrpt::opengl::CRenderizable.
Reimplemented in mrpt::opengl::CSetOfTriangles.
Definition at line 82 of file CRenderizableDisplayList.h.
References mrpt::opengl::CRenderizable::m_color, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::img::TColor::R.
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inlineinherited |
Changes the location of the object, keeping untouched the orientation.
Definition at line 111 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
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inlineinherited |
Changes the location of the object, keeping untouched the orientation.
Definition at line 121 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
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inlineinherited |
Changes the name of the object.
Definition at line 65 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_name.
void CAngularObservationMesh::setPitchBounds | ( | const double | initial, |
const double | final | ||
) |
Sets the pitch bounds for this range.
Definition at line 237 of file CAngularObservationMesh.cpp.
void CAngularObservationMesh::setPitchBounds | ( | const std::vector< double > & | bounds | ) |
Sets the pitch bounds for this range.
Definition at line 247 of file CAngularObservationMesh.cpp.
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inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
Definition at line 303 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose.
Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview().
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inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
Definition at line 308 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose.
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inherited |
Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
Definition at line 313 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose.
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inherited |
Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
Definition at line 318 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose.
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inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
Set the 3D pose from a mrpt::poses::CPose3D object.
Definition at line 325 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
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inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
Set the 3D pose from a mrpt::poses::CPose3D object.
Definition at line 331 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
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inlineinherited |
Scale to apply to the object, in all three axes (default=1)
Definition at line 210 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, and mrpt::opengl::CRenderizable::m_scale_z.
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inlineinherited |
Scale to apply to the object in each axis (default=1)
Definition at line 217 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, and mrpt::opengl::CRenderizable::m_scale_z.
bool mrpt::opengl::CAngularObservationMesh::setScanSet | ( | const std::vector< mrpt::obs::CObservation2DRangeScan > & | scans | ) |
Sets the scan set.
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inlineinherited |
Set object visibility (default=true)
Definition at line 73 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_visible.
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inline |
Sets the display mode for the object.
True=wireframe, False=solid.
Definition at line 341 of file CAngularObservationMesh.h.
References mWireframe, and mrpt::opengl::CRenderizableDisplayList::notifyChange().
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inlineprotectedvirtualinherited |
Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases.
Reimplemented in mrpt::opengl::CSphere.
Definition at line 61 of file CRenderizableDisplayList.h.
Referenced by mrpt::opengl::CRenderizableDisplayList::render().
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staticinherited |
Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
Definition at line 370 of file CRenderizable.cpp.
References mrpt::opengl::gl_utils::textBitmapWidth().
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inlinestatic |
2D ray tracing (will generate a vectorial mesh inside a plane).
Given an object and a range, realizes a scan from the initial pose and stores it in a CObservation2DRangeScan object. The objective may be a COpenGLScene, a CRenderizable or any children of its.
Definition at line 549 of file CAngularObservationMesh.h.
References mrpt::opengl::CAngularObservationMesh::TDoubleRange::amount(), mrpt::obs::CObservation2DRangeScan::aperture, mrpt::opengl::CAngularObservationMesh::TDoubleRange::aperture(), mrpt::obs::CObservation2DRangeScan::deltaPitch, mrpt::obs::CObservation2DRangeScan::maxRange, mrpt::opengl::CAngularObservationMesh::TDoubleRange::negToPos(), mrpt::obs::CObservation2DRangeScan::rightToLeft, mrpt::obs::CObservation2DRangeScan::scan, mrpt::obs::CObservation2DRangeScan::sensorPose, mrpt::obs::CObservation2DRangeScan::validRange, and mrpt::opengl::CAngularObservationMesh::TDoubleRange::values().
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static |
2D ray tracing (will generate a 3D mesh).
Given an object and two ranges, realizes a scan from the initial pose and stores it in a CAngularObservationMesh object. The objective may be a COpenGLScene, a CRenderizable or any children of its.
Definition at line 574 of file CAngularObservationMesh.h.
References mrpt::opengl::CAngularObservationMesh::TDoubleRange::values().
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overridevirtual |
Traces a ray to the object, returning the distance to a given pose through its X axis.
Reimplemented from mrpt::opengl::CRenderizable.
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protected |
Updates the mesh, if needed.
It's a const method, but modifies mutable content.
Referenced by getActualMesh().
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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.
mxArray
(caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB. Definition at line 90 of file CSerializable.h.
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protectedinherited |
Definition at line 104 of file CRenderizable.cpp.
References mrpt::img::TColor::A, mrpt::img::TColor::B, mrpt::img::TColor::G, mrpt::opengl::CRenderizable::m_color, mrpt::opengl::CRenderizable::m_name, mrpt::opengl::CRenderizable::m_pose, mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, mrpt::opengl::CRenderizable::m_scale_z, mrpt::opengl::CRenderizable::m_show_name, mrpt::opengl::CRenderizable::m_visible, mrpt::poses::CPose3D::pitch(), mrpt::img::TColor::R, mrpt::poses::CPose3D::roll(), mrpt::serialization::CArchive::WriteBuffer(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().
Referenced by mrpt::opengl::CSetOfLines::serializeTo(), mrpt::opengl::CVectorField2D::serializeTo(), mrpt::opengl::CVectorField3D::serializeTo(), mrpt::opengl::CBox::serializeTo(), mrpt::opengl::CPolyhedron::serializeTo(), mrpt::opengl::CFrustum::serializeTo(), and mrpt::opengl::CPlanarLaserScan::serializeTo().
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staticprotected |
Definition at line 43 of file CAngularObservationMesh.h.
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mutableprotected |
Mutable object with the mesh's points.
Definition at line 315 of file CAngularObservationMesh.h.
Referenced by getActualMesh().
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static |
Definition at line 43 of file CAngularObservationMesh.h.
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protectedinherited |
Color components in the range [0,255].
Definition at line 51 of file CRenderizable.h.
Referenced by mrpt::opengl::CMeshFast::CMeshFast(), mrpt::opengl::CVectorField2D::CVectorField2D(), mrpt::opengl::CVectorField3D::CVectorField3D(), mrpt::opengl::CRenderizable::getColor(), mrpt::opengl::CRenderizable::getColor_u8(), mrpt::opengl::CRenderizable::getColorA(), mrpt::opengl::CRenderizable::getColorA_u8(), mrpt::opengl::CRenderizable::getColorB(), mrpt::opengl::CRenderizable::getColorB_u8(), mrpt::opengl::CRenderizable::getColorG(), mrpt::opengl::CRenderizable::getColorG_u8(), mrpt::opengl::CRenderizable::getColorR(), mrpt::opengl::CRenderizable::getColorR_u8(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), mrpt::opengl::CPolyhedron::render_dl(), mrpt::opengl::CRenderizable::setColor_u8(), mrpt::opengl::CRenderizableDisplayList::setColorA_u8(), mrpt::opengl::CRenderizable::setColorA_u8(), mrpt::opengl::CRenderizableDisplayList::setColorB_u8(), mrpt::opengl::CRenderizable::setColorB_u8(), mrpt::opengl::CRenderizableDisplayList::setColorG_u8(), mrpt::opengl::CRenderizable::setColorG_u8(), mrpt::opengl::CRenderizableDisplayList::setColorR_u8(), mrpt::opengl::CRenderizable::setColorR_u8(), and mrpt::opengl::CRenderizable::writeToStreamRender().
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protectedinherited |
Definition at line 48 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::getName(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setName(), and mrpt::opengl::CRenderizable::writeToStreamRender().
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protectedinherited |
6D pose wrt the parent coordinate reference.
This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.
Definition at line 54 of file CRenderizable.h.
Referenced by mrpt::opengl::CAssimpModel::getBoundingBox(), mrpt::opengl::CBox::getBoundingBox(), mrpt::opengl::CFrustum::getBoundingBox(), mrpt::opengl::CPolyhedron::getBoundingBox(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::opengl::CSetOfLines::getBoundingBox(), mrpt::opengl::CVectorField2D::getBoundingBox(), mrpt::opengl::CVectorField3D::getBoundingBox(), mrpt::opengl::CRenderizable::getPose(), mrpt::opengl::CRenderizable::getPosePitch(), mrpt::opengl::CRenderizable::getPosePitchRad(), mrpt::opengl::CRenderizable::getPoseRef(), mrpt::opengl::CRenderizable::getPoseRoll(), mrpt::opengl::CRenderizable::getPoseRollRad(), mrpt::opengl::CRenderizable::getPoseX(), mrpt::opengl::CRenderizable::getPoseY(), mrpt::opengl::CRenderizable::getPoseYaw(), mrpt::opengl::CRenderizable::getPoseYawRad(), mrpt::opengl::CRenderizable::getPoseZ(), mrpt::opengl::CPolyhedron::getSetOfPolygonsAbsolute(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::render_dl(), mrpt::opengl::CRenderizable::setLocation(), mrpt::opengl::CRenderizable::setPose(), mrpt::opengl::CPolyhedron::traceRay(), and mrpt::opengl::CRenderizable::writeToStreamRender().
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protectedinherited |
Scale components to apply to the object (default=1)
Definition at line 56 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::getScaleX(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().
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protectedinherited |
Definition at line 56 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::getScaleY(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().
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protectedinherited |
Definition at line 56 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::getScaleZ(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().
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protectedinherited |
Definition at line 49 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::enableShowName(), mrpt::opengl::CRenderizable::isShowNameEnabled(), mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().
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protectedinherited |
Is the object visible? (default=true)
Definition at line 58 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::isVisible(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setVisibility(), and mrpt::opengl::CRenderizable::writeToStreamRender().
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protected |
Whether the object may present transparencies or not.
Definition at line 313 of file CAngularObservationMesh.h.
Referenced by enableTransparency(), and isTransparencyEnabled().
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mutableprotected |
Mutable variable which controls if the object has suffered any change since last time the mesh was updated.
Definition at line 311 of file CAngularObservationMesh.h.
Referenced by getActualMesh().
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protected |
Whether the mesh will be displayed wireframe or solid.
Definition at line 308 of file CAngularObservationMesh.h.
Referenced by isWireframe(), and setWireframe().
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protected |
Observation pitch range.
When containing exactly two elements, they represent the bounds.
Definition at line 320 of file CAngularObservationMesh.h.
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staticprotected |
Definition at line 43 of file CAngularObservationMesh.h.
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protected |
Actual scan set which is used to generate the mesh.
Definition at line 322 of file CAngularObservationMesh.h.
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mutableprotected |
Actual set of triangles to be displayed.
Definition at line 302 of file CAngularObservationMesh.h.
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mutableprotected |
Scan validity matrix.
Definition at line 317 of file CAngularObservationMesh.h.
Referenced by getActualMesh().
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