mrpt::graphslam::CWindowManager Class Reference

Detailed Description

Class acts as a container for storing pointers to mrpt::gui::CDisplayWindow3D, mrpt::graphslam::CWindowObserver instances.

CWindowManager also provides methods for adding/positioning textMessages and viewports in the CDisplayWindow in a compact and consistent way.

Definition at line 27 of file CWindowManager.h.

#include <mrpt/graphslam/misc/CWindowManager.h>

Inheritance diagram for mrpt::graphslam::CWindowManager:

Public Member Functions
	CWindowManager ()
	Default class constructor. More...
	CWindowManager (mrpt::gui::CDisplayWindow3D *win_in)
	Class constructor. More...
	CWindowManager (mrpt::gui::CDisplayWindow3D *win_in, mrpt::graphslam::CWindowObserver *observer_in)
	Class constructor. More...
	~CWindowManager () override=default
	Class destructor. More...
void	setCDisplayWindow3DPtr (mrpt::gui::CDisplayWindow3D *win_in)
	Store the CDisplayWindow3D pointer in the CWindowManager instance. More...
void	setWindowObserverPtr (mrpt::graphslam::CWindowObserver *obsever_in)
	Store the CWindowObserver pointer in the CWindowManager instance. More...
void	assignTextMessageParameters (double *offset_y, int *text_index)
	Assign the next available offset_y and text_index for the textMessage under construction. More...
bool	isOpen ()
	Wrapper call around the CWindowDisplay3D. More...
void	addTextMessage (const double x, const double y, const std::string &text, const mrpt::img::TColorf &color=mrpt::img::TColorf(1.0, 1.0, 1.0), const size_t unique_index=0)
	Wrapper around the CDisplayWindow3D::addTextMessage method, so that the user does not have to specify the font name and size. More...
void	assignViewportParameters (double *x, double *y, double *width, double *height)
	Assign position and size values for the placement of the next viewport. More...

Static Public Member Functions
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

Public Attributes
mrpt::gui::CDisplayWindow3D *	win
	CDisplayWindow instance. More...
mrpt::graphslam::CWindowObserver *	observer
	CWindowObserver instance. More...

Protected Attributes
VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Private Member Functions
void	initCWindowManager ()
	Initialization method, to be called from the various Constructors. More...

Private Attributes
bool	m_fetched_observer_pointer
bool	m_fetched_displaywindow_pointer
double	m_offset_y_step
int	m_index_text_step
double	m_curr_offset_y
int	m_curr_text_index
std::string	m_font_name
int	m_font_size
double	m_viewp_width
double	m_viewp_height
double	m_viewp_x
double	m_viewp_y
	vertical layout of the viewports More...
double	m_viewp_margin

Logging methods
bool	logging_enable_console_output {true}
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
bool	logging_enable_keep_record {false}
	[Default=false] Enables storing all messages into an internal list. More...
void	logStr (const VerbosityLevel level, std::string_view msg_str) const
	Main method to add the specified message string to the logger. More...
void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...
void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...
void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...
std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...
void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...
void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...
VerbosityLevel	getMinLoggingLevel () const
bool	isLoggingLevelVisible (VerbosityLevel level) const
void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...
std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...
void	writeLogToFile (const std::string *fname_in=nullptr) const
	Write the contents of the COutputLogger instance to an external file. More...
void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...
std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...
void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...
void	loggerReset ()
	Reset the contents of the logger instance. More...
void	logRegisterCallback (output_logger_callback_t userFunc)
bool	logDeregisterCallback (output_logger_callback_t userFunc)

Constructor & Destructor Documentation

CWindowManager() [1/3]

mrpt::graphslam::CWindowManager::CWindowManager ( )

inline

Default class constructor.

Definition at line 31 of file CWindowManager.h.

References initCWindowManager().

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CWindowManager() [2/3]

mrpt::graphslam::CWindowManager::CWindowManager ( mrpt::gui::CDisplayWindow3D *  win_in )

inline

Class constructor.

Definition at line 33 of file CWindowManager.h.

References initCWindowManager(), and setCDisplayWindow3DPtr().

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CWindowManager() [3/3]

mrpt::graphslam::CWindowManager::CWindowManager ( mrpt::gui::CDisplayWindow3D *  win_in, mrpt::graphslam::CWindowObserver *  observer_in  )

inline

Class constructor.

Definition at line 39 of file CWindowManager.h.

References initCWindowManager(), setCDisplayWindow3DPtr(), and setWindowObserverPtr().

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~CWindowManager()

mrpt::graphslam::CWindowManager::~CWindowManager ( )

overridedefault

Class destructor.

Member Function Documentation

addTextMessage()

void mrpt::graphslam::CWindowManager::addTextMessage ( const double  x, const double  y, const std::string &  text, const mrpt::img::TColorf &  color = mrpt::img::TColorf(1.0, 1.0, 1.0), const size_t  unique_index = 0  )

inline

Wrapper around the CDisplayWindow3D::addTextMessage method, so that the user does not have to specify the font name and size.

Note

see initCWindowManager method for the default fontName and fontSize used.

Definition at line 111 of file CWindowManager.h.

References mrpt::gui::CDisplayWindow3D::addTextMessage(), and win.

Referenced by mrpt::graphslam::detail::CEdgeCounter::updateTextMessages().

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assignTextMessageParameters()

void mrpt::graphslam::CWindowManager::assignTextMessageParameters ( double *  offset_y, int *  text_index  )

inline

Assign the next available offset_y and text_index for the textMessage under construction.

Used for consistent positioning of textMessages in the CDisplayWindow3D.

See also

assignViewPortParameters

Definition at line 82 of file CWindowManager.h.

References m_curr_offset_y, m_curr_text_index, m_index_text_step, and m_offset_y_step.

assignViewportParameters()

void mrpt::graphslam::CWindowManager::assignViewportParameters ( double *  x, double *  y, double *  width, double *  height  )

inline

Assign position and size values for the placement of the next viewport.

Used for consistent positioning of the Viewports in the CDisplayWindow3D

See also

assignTextMessageParameters

Definition at line 131 of file CWindowManager.h.

References m_viewp_height, m_viewp_margin, m_viewp_width, m_viewp_x, and m_viewp_y.

dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also

writeToFile

Definition at line 190 of file COutputLogger.cpp.

getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string &  log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string &  msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also

setLoggerName

Definition at line 143 of file COutputLogger.cpp.

getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also

setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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initCWindowManager()

void mrpt::graphslam::CWindowManager::initCWindowManager ( )

inlineprivate

Initialization method, to be called from the various Constructors.

Definition at line 148 of file CWindowManager.h.

References m_curr_offset_y, m_curr_text_index, m_fetched_displaywindow_pointer, m_fetched_observer_pointer, m_font_name, m_font_size, m_index_text_step, m_offset_y_step, m_viewp_height, m_viewp_margin, m_viewp_width, m_viewp_x, m_viewp_y, observer, mrpt::system::COutputLogger::setLoggerName(), and win.

Referenced by CWindowManager().

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isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level ) const

inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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isOpen()

bool mrpt::graphslam::CWindowManager::isOpen ( )

inline

Wrapper call around the CWindowDisplay3D.

Definition at line 92 of file CWindowManager.h.

References mrpt::gui::CBaseGUIWindow::isOpen(), and win.

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logCond()

void COutputLogger::logCond ( const VerbosityLevel  level, bool  cond, const std::string &  msg_str  ) const

inherited

Log the given message only if the condition is satisfied.

See also

log, logFmt

Definition at line 131 of file COutputLogger.cpp.

logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc )

inherited

Returns

true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level, const char *  fmt,   ...  ) const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));

// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also

logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

logStr()

void COutputLogger::logStr ( const VerbosityLevel  level, std::string_view  msg_str  ) const

inherited

Main method to add the specified message string to the logger.

See also

logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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setCDisplayWindow3DPtr()

void mrpt::graphslam::CWindowManager::setCDisplayWindow3DPtr ( mrpt::gui::CDisplayWindow3D *  win_in )

inline

Store the CDisplayWindow3D pointer in the CWindowManager instance.

See also

setWindowObserverPtr

Definition at line 55 of file CWindowManager.h.

References m_fetched_displaywindow_pointer, MRPT_LOG_DEBUG_STREAM, and win.

Referenced by CWindowManager(), and CGraphSlamHandler< GRAPH_T >::initVisualization().

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setLoggerName()

void COutputLogger::setLoggerName ( const std::string &  name )

inherited

Set the name of the COutputLogger instance.

See also

getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().

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setWindowObserverPtr()

void mrpt::graphslam::CWindowManager::setWindowObserverPtr ( mrpt::graphslam::CWindowObserver *  obsever_in )

inline

Store the CWindowObserver pointer in the CWindowManager instance.

See also

setCDisplayWindow3DPtr

Definition at line 66 of file CWindowManager.h.

References m_fetched_observer_pointer, MRPT_LOG_DEBUG_STREAM, and observer.

Referenced by CWindowManager(), and CGraphSlamHandler< GRAPH_T >::initVisualization().

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writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string *  fname_in = nullptr ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also

dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}

inherited

[Default=false] Enables storing all messages into an internal list.

See also

writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

m_curr_offset_y

double mrpt::graphslam::CWindowManager::m_curr_offset_y

private

Definition at line 177 of file CWindowManager.h.

Referenced by assignTextMessageParameters(), and initCWindowManager().

m_curr_text_index

int mrpt::graphslam::CWindowManager::m_curr_text_index

private

Definition at line 178 of file CWindowManager.h.

Referenced by assignTextMessageParameters(), and initCWindowManager().

m_fetched_displaywindow_pointer

bool mrpt::graphslam::CWindowManager::m_fetched_displaywindow_pointer

private

Definition at line 173 of file CWindowManager.h.

Referenced by initCWindowManager(), and setCDisplayWindow3DPtr().

m_fetched_observer_pointer

bool mrpt::graphslam::CWindowManager::m_fetched_observer_pointer

private

Definition at line 172 of file CWindowManager.h.

Referenced by initCWindowManager(), and setWindowObserverPtr().

m_font_name

std::string mrpt::graphslam::CWindowManager::m_font_name

private

Definition at line 180 of file CWindowManager.h.

Referenced by initCWindowManager().

m_font_size

int mrpt::graphslam::CWindowManager::m_font_size

private

Definition at line 181 of file CWindowManager.h.

Referenced by initCWindowManager().

m_index_text_step

int mrpt::graphslam::CWindowManager::m_index_text_step

private

Definition at line 176 of file CWindowManager.h.

Referenced by assignTextMessageParameters(), and initCWindowManager().

m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

m_offset_y_step

double mrpt::graphslam::CWindowManager::m_offset_y_step

private

Definition at line 175 of file CWindowManager.h.

Referenced by assignTextMessageParameters(), and initCWindowManager().

m_viewp_height

double mrpt::graphslam::CWindowManager::m_viewp_height

private

Definition at line 185 of file CWindowManager.h.

Referenced by assignViewportParameters(), and initCWindowManager().

m_viewp_margin

double mrpt::graphslam::CWindowManager::m_viewp_margin

private

Definition at line 188 of file CWindowManager.h.

Referenced by assignViewportParameters(), and initCWindowManager().

m_viewp_width

double mrpt::graphslam::CWindowManager::m_viewp_width

private

Definition at line 184 of file CWindowManager.h.

Referenced by assignViewportParameters(), and initCWindowManager().

m_viewp_x

double mrpt::graphslam::CWindowManager::m_viewp_x

private

Definition at line 186 of file CWindowManager.h.

Referenced by assignViewportParameters(), and initCWindowManager().

m_viewp_y

double mrpt::graphslam::CWindowManager::m_viewp_y

private

vertical layout of the viewports

Definition at line 187 of file CWindowManager.h.

Referenced by assignViewportParameters(), and initCWindowManager().

observer

mrpt::graphslam::CWindowObserver* mrpt::graphslam::CWindowManager::observer

CWindowObserver instance.

Definition at line 144 of file CWindowManager.h.

Referenced by initCWindowManager(), and setWindowObserverPtr().

win

mrpt::gui::CDisplayWindow3D* mrpt::graphslam::CWindowManager::win

CDisplayWindow instance.

Definition at line 143 of file CWindowManager.h.

Referenced by addTextMessage(), initCWindowManager(), isOpen(), setCDisplayWindow3DPtr(), mrpt::graphslam::detail::CEdgeCounter::setWindowManagerPtr(), and mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::setWindowManagerPtr().