mrpt::opengl::CRenderizable Class Reference

Detailed Description

The base class of 3D objects that can be directly rendered through OpenGL.

In this class there are a set of common properties to all 3D objects, mainly:

• A name (m_name): A name that can be optionally asigned to objects for easing its reference.
• 6D coordinates (x,y,z,yaw,pitch,roll), relative to the "current" reference framework. By default, any object is referenced to global scene coordinates.
• A RGB color: This field will be used in simple elements (points, lines, text,...) but is ignored in more complex objects that carry their own color information (triangle sets,...)

See the main class opengl::COpenGLScene

See also

opengl::COpenGLScene, mrpt::opengl

Definition at line 48 of file CRenderizable.h.

#include <mrpt/opengl/CRenderizable.h>

Inheritance diagram for mrpt::opengl::CRenderizable:

Classes
struct	RenderContext
	Context for calls to render() More...

Public Types
using	UniquePtr = std::unique_ptr< CObject >
using	ConstUniquePtr = std::unique_ptr< const CObject >

Public Member Functions
	CRenderizable ()
	Default constructor: More...
	~CRenderizable () override
virtual void	render (const RenderContext &rc) const =0
	Implements the rendering of 3D objects in each class derived from CRenderizable. More...
virtual void	enqueForRenderRecursive ([[maybe_unused]] const mrpt::opengl::TRenderMatrices &state, [[maybe_unused]] RenderQueue &rq) const
	Process all children objects recursively, if the object is a container. More...
virtual void	renderUpdateBuffers () const =0
	Called whenever m_outdatedBuffers is true: used to re-generate OpenGL vertex buffers, etc. More...
virtual shader_list_t	requiredShaders () const
	Returns the ID of the OpenGL shader program required to render this class. More...
void	updateBuffers () const
	Calls renderUpdateBuffers() and clear the flag that is set with notifyChange() More...
void	notifyChange () const
	Call to enable calling renderUpdateBuffers() before the next render() rendering iteration. More...
bool	hasToUpdateBuffers () const
	Returns whether notifyChange() has been invoked since the last call to renderUpdateBuffers(), meaning the latter needs to be called again before rendering. More...
virtual bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const
	Simulation of ray-trace, given a pose. More...
virtual void	getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const =0
	Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More...
virtual mrpt::math::TPoint3Df	getLocalRepresentativePoint () const
	Provide a representative point (in object local coordinates), used to sort objects by eye-distance while rendering with transparencies (Default=[0,0,0]) More...
void	setLocalRepresentativePoint (const mrpt::math::TPoint3Df &p)
	See getLocalRepresentativePoint() More...
mrpt::opengl::CText &	labelObject () const
	Returns or constructs (in its first invokation) the associated mrpt::opengl::CText object representing the label of the object. More...
virtual void	freeOpenGLResources ()=0
	Free opengl buffers. More...
virtual void	initializeTextures () const
	Initializes all textures (loads them into opengl memory). 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...
virtual CObject *	clone () const =0
	Returns a deep copy (clone) of the object, indepently of its 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::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...
float	getColorR () const
	Color components in the range [0,1]. More...
float	getColorG () const
	Color components in the range [0,1]. More...
float	getColorB () const
	Color components in the range [0,1]. More...
float	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 float r)
	Color components in the range [0,1]. More...
CRenderizable &	setColorG (const float g)
	Color components in the range [0,1]. More...
CRenderizable &	setColorB (const float b)
	Color components in the range [0,1]. More...
CRenderizable &	setColorA (const float a)
	Color components in the range [0,1]. More...
virtual CRenderizable &	setColorR_u8 (const uint8_t r)
	Color components in the range [0,255]. More...
virtual CRenderizable &	setColorG_u8 (const uint8_t g)
	Color components in the range [0,255]. More...
virtual CRenderizable &	setColorB_u8 (const uint8_t b)
	Color components in the range [0,255]. More...
virtual CRenderizable &	setColorA_u8 (const uint8_t a)
	Color components in the range [0,255]. 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 (float R, float G, float B, float 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...
virtual CRenderizable &	setColor_u8 (const mrpt::img::TColor &c)
CRenderizable &	setColor_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 for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Protected Member Functions
void	writeToStreamRender (mrpt::serialization::CArchive &out) const
void	readFromStreamRender (mrpt::serialization::CArchive &in)
CSerializable virtual methods
virtual uint8_t	serializeGetVersion () const =0
	Must return the current versioning number of the object. More...
virtual void	serializeTo (CArchive &out) const =0
	Pure virtual method for writing (serializing) to an abstract archive. More...
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...
virtual void	serializeFrom (CArchive &in, uint8_t serial_version)=0
	Pure virtual method for reading (deserializing) from an abstract archive. More...
virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Protected Attributes
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...
bool	m_outdatedBuffers = true
mrpt::math::TPoint3Df	m_representativePoint {0, 0, 0}
std::shared_ptr< mrpt::opengl::CText >	m_label_obj
	Optional pointer to a mrpt::opengl::CText. More...

Friends
class	mrpt::opengl::COpenGLViewport
class	mrpt::opengl::CSetOfObjects

RTTI stuff
using	Ptr = std::shared_ptr< CRenderizable >
using	ConstPtr = std::shared_ptr< const CRenderizable >
static const mrpt::rtti::TRuntimeClassId	runtimeClassId
static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...
static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

Member Typedef Documentation

ConstPtr

using mrpt::opengl::CRenderizable::ConstPtr = std::shared_ptr<const CRenderizable >

Definition at line 50 of file CRenderizable.h.

ConstUniquePtr

using mrpt::rtti::CObject::ConstUniquePtr = std::unique_ptr<const CObject>

inherited

Definition at line 187 of file CObject.h.

Ptr

using mrpt::opengl::CRenderizable::Ptr = std::shared_ptr< CRenderizable >

Definition at line 50 of file CRenderizable.h.

UniquePtr

using mrpt::rtti::CObject::UniquePtr = std::unique_ptr<CObject>

inherited

Definition at line 186 of file CObject.h.

Constructor & Destructor Documentation

CRenderizable()

CRenderizable::CRenderizable

(

)

Default constructor:

Definition at line 32 of file CRenderizable.cpp.

~CRenderizable()

CRenderizable::~CRenderizable ( )

overridedefault

Member Function Documentation

_GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::opengl::CRenderizable::_GetBaseClass ( )

staticprotected

clone()

virtual CObject* mrpt::rtti::CObject::clone ( ) const

pure virtualinherited

Returns a deep copy (clone) of the object, indepently of its class.

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::maps::CRandomFieldGridMap3D, mrpt::hmtslam::THypothesisIDSet, mrpt::detectors::CDetectable3D, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationRotatingScan, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::opengl::COpenGLScene, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservation2DRangeScan, mrpt::opengl::CFrustum, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::poses::CPose3DQuat, mrpt::opengl::CPolyhedron, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CBox, mrpt::opengl::CEllipsoid2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CEllipsoid3D, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMesh, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, MyNS::Bar, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CColorBar, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CCamera, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::opengl::CSetOfLines, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CActionRobotMovement2D, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSphere, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::poses::CPosePDFGaussian, MyNS::MyDerived2, mrpt::obs::CObservationRange, mrpt::img::TCamera, mrpt::maps::CPointsMapXYZI, mrpt::nav::CMultiObjMotionOpt_Scalarization, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, MyNS::MyDerived1, mrpt::math::CPolygon, mrpt::opengl::CTexturedPlane, mrpt::poses::CPoint2DPDFGaussian, MyNS::Foo, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, and MyNS::Foo.

Referenced by mrpt::rtti::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

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duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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enableShowName()

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

inline

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

Definition at line 90 of file CRenderizable.h.

References m_show_name.

enqueForRenderRecursive()

virtual void mrpt::opengl::CRenderizable::enqueForRenderRecursive ( [[maybe_unused] ] const mrpt::opengl::TRenderMatrices &  state, [[maybe_unused] ] RenderQueue &  rq  ) const

inlinevirtual

Process all children objects recursively, if the object is a container.

Definition at line 285 of file CRenderizable.h.

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

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freeOpenGLResources()

virtual void mrpt::opengl::CRenderizable::freeOpenGLResources ( )

pure virtual

Free opengl buffers.

Implemented in mrpt::opengl::CAngularObservationMesh, mrpt::opengl::COctoMapVoxels, mrpt::opengl::CCamera, mrpt::opengl::CRenderizableShaderPoints, mrpt::opengl::CSetOfObjects, mrpt::opengl::CVectorField3D, mrpt::opengl::CPlanarLaserScan, mrpt::opengl::CColorBar, mrpt::opengl::CAssimpModel, mrpt::opengl::CFrustum, mrpt::opengl::CMesh, mrpt::opengl::CBox, mrpt::opengl::CRenderizableShaderWireFrame, mrpt::opengl::CVectorField2D, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CPolyhedron, mrpt::opengl::CMesh3D, mrpt::opengl::CRenderizableShaderText, mrpt::opengl::CRenderizableShaderTexturedTriangles, mrpt::opengl::CRenderizableShaderTriangles, and mrpt::opengl::CSetOfLines.

getBoundingBox()

virtual void mrpt::opengl::CRenderizable::getBoundingBox ( mrpt::math::TPoint3D &  bb_min, mrpt::math::TPoint3D &  bb_max  ) const

pure virtual

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

Implemented in mrpt::opengl::COctoMapVoxels, mrpt::opengl::CVectorField3D, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CSetOfLines, mrpt::opengl::CVectorField2D, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CMesh, mrpt::opengl::CMeshFast, mrpt::opengl::CPolyhedron, mrpt::opengl::CPlanarLaserScan, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CMesh3D, mrpt::opengl::CSetOfObjects, mrpt::opengl::CFrustum, mrpt::opengl::CCylinder, mrpt::opengl::CPointCloud, mrpt::opengl::CCamera, mrpt::opengl::CText3D, mrpt::opengl::CAssimpModel, mrpt::opengl::CArrow, mrpt::opengl::CColorBar, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CText, mrpt::opengl::CPointCloudColoured, mrpt::opengl::CAxis, mrpt::opengl::CTexturedPlane, mrpt::opengl::CBox, mrpt::opengl::CDisk, mrpt::opengl::CSphere, mrpt::opengl::CSimpleLine, and mrpt::opengl::CSetOfTexturedTriangles.

getColor()

mrpt::img::TColorf mrpt::opengl::CRenderizable::getColor ( ) const

inline

Returns the object color property as a TColorf.

Definition at line 229 of file CRenderizable.h.

References m_color.

Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels(), and mrpt::maps::COccupancyGridMap3D::getAsOctoMapVoxels().

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getColor_u8()

const mrpt::img::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const

inline

Returns the object color property as a TColor.

Definition at line 248 of file CRenderizable.h.

References m_color.

getColorA()

float mrpt::opengl::CRenderizable::getColorA ( ) const

inline

Color components in the range [0,1].

Definition at line 164 of file CRenderizable.h.

References mrpt::img::TColor::A, m_color, and mrpt::u8tof().

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getColorA_u8()

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

inline

Color components in the range [0,255].

Definition at line 172 of file CRenderizable.h.

References mrpt::img::TColor::A, and m_color.

getColorB()

float mrpt::opengl::CRenderizable::getColorB ( ) const

inline

Color components in the range [0,1].

Definition at line 162 of file CRenderizable.h.

References mrpt::img::TColor::B, m_color, and mrpt::u8tof().

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getColorB_u8()

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

inline

Color components in the range [0,255].

Definition at line 170 of file CRenderizable.h.

References mrpt::img::TColor::B, and m_color.

getColorG()

float mrpt::opengl::CRenderizable::getColorG ( ) const

inline

Color components in the range [0,1].

Definition at line 160 of file CRenderizable.h.

References mrpt::img::TColor::G, m_color, and mrpt::u8tof().

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getColorG_u8()

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

inline

Color components in the range [0,255].

Definition at line 168 of file CRenderizable.h.

References mrpt::img::TColor::G, and m_color.

getColorR()

float mrpt::opengl::CRenderizable::getColorR ( ) const

inline

Color components in the range [0,1].

Definition at line 158 of file CRenderizable.h.

References m_color, mrpt::img::TColor::R, and mrpt::u8tof().

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getColorR_u8()

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

inline

Color components in the range [0,255].

Definition at line 166 of file CRenderizable.h.

References m_color, and mrpt::img::TColor::R.

getLocalRepresentativePoint()

virtual mrpt::math::TPoint3Df mrpt::opengl::CRenderizable::getLocalRepresentativePoint ( ) const

inlinevirtual

Provide a representative point (in object local coordinates), used to sort objects by eye-distance while rendering with transparencies (Default=[0,0,0])

Reimplemented in mrpt::opengl::CPlanarLaserScan.

Definition at line 341 of file CRenderizable.h.

References m_representativePoint.

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

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getName()

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

inline

Returns the name of the object.

Definition at line 75 of file CRenderizable.h.

References m_name.

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

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getPose()

mrpt::math::TPose3D CRenderizable::getPose

(

)

const

Returns the 3D pose of the object as TPose3D.

Definition at line 223 of file CRenderizable.cpp.

Referenced by mrpt::opengl::COpenGLViewport::renderNormalSceneMode().

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getPosePitch()

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

inline

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 148 of file CRenderizable.h.

References m_pose, mrpt::poses::CPose3D::pitch(), and mrpt::RAD2DEG().

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getPosePitchRad()

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

inline

Rotation relative to parent coordinate origin, in radians.

Definition at line 154 of file CRenderizable.h.

References m_pose, and mrpt::poses::CPose3D::pitch().

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getPoseRef()

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

inline

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 117 of file CRenderizable.h.

References m_pose.

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

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getPoseRoll()

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

inline

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 150 of file CRenderizable.h.

References m_pose, mrpt::RAD2DEG(), and mrpt::poses::CPose3D::roll().

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getPoseRollRad()

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

inline

Rotation relative to parent coordinate origin, in radians.

Definition at line 156 of file CRenderizable.h.

References m_pose, and mrpt::poses::CPose3D::roll().

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getPoseX()

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

inline

Translation relative to parent coordinate origin.

Definition at line 140 of file CRenderizable.h.

References m_pose, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x().

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getPoseY()

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

inline

Translation relative to parent coordinate origin.

Definition at line 142 of file CRenderizable.h.

References m_pose, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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getPoseYaw()

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

inline

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 146 of file CRenderizable.h.

References m_pose, mrpt::RAD2DEG(), and mrpt::poses::CPose3D::yaw().

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getPoseYawRad()

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

inline

Rotation relative to parent coordinate origin, in radians.

Definition at line 152 of file CRenderizable.h.

References m_pose, and mrpt::poses::CPose3D::yaw().

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getPoseZ()

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

inline

Translation relative to parent coordinate origin.

Definition at line 144 of file CRenderizable.h.

References m_pose.

GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::opengl::CRenderizable::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

Reimplemented in mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::COctoMapVoxels, mrpt::opengl::CPlanarLaserScan, mrpt::opengl::CFrustum, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::opengl::CPolyhedron, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CAssimpModel, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CText3D, mrpt::opengl::CBox, mrpt::opengl::CEllipsoid2D, mrpt::opengl::CEllipsoid3D, mrpt::opengl::CVectorField3D, mrpt::opengl::CMesh, mrpt::opengl::CMeshFast, mrpt::opengl::CRenderizableShaderPoints, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::opengl::CColorBar, mrpt::opengl::CText, mrpt::opengl::CCamera, mrpt::opengl::CSetOfLines, mrpt::opengl::CDisk, mrpt::opengl::CAxis, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSphere, mrpt::opengl::CArrow, mrpt::opengl::CSetOfObjects, mrpt::opengl::CRenderizableShaderText, mrpt::opengl::CRenderizableShaderTexturedTriangles, mrpt::opengl::CRenderizableShaderTriangles, mrpt::opengl::CRenderizableShaderWireFrame, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::CTexturedPlane, and mrpt::opengl::CSimpleLine.

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

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GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::opengl::CRenderizable::GetRuntimeClassIdStatic ( )

static

getScaleX()

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

inline

Get the current scaling factor in one axis.

Definition at line 223 of file CRenderizable.h.

References m_scale_x.

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

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getScaleY()

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

inline

Get the current scaling factor in one axis.

Definition at line 225 of file CRenderizable.h.

References m_scale_y.

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

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getScaleZ()

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

inline

Get the current scaling factor in one axis.

Definition at line 227 of file CRenderizable.h.

References m_scale_z.

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

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hasToUpdateBuffers()

bool mrpt::opengl::CRenderizable::hasToUpdateBuffers ( ) const

inline

Returns whether notifyChange() has been invoked since the last call to renderUpdateBuffers(), meaning the latter needs to be called again before rendering.

Definition at line 324 of file CRenderizable.h.

References m_outdatedBuffers.

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

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initializeTextures()

virtual void mrpt::opengl::CRenderizable::initializeTextures ( ) const

inlinevirtual

Initializes all textures (loads them into opengl memory).

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableShaderTexturedTriangles.

Definition at line 362 of file CRenderizable.h.

isShowNameEnabled()

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const

inline

See also

enableShowName

Definition at line 92 of file CRenderizable.h.

References m_show_name.

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

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isVisible()

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

inline

Is the object visible?

See also

setVisibility

Definition at line 76 of file CRenderizable.h.

References m_visible.

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

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labelObject()

CText & CRenderizable::labelObject

(

)

const

Returns or constructs (in its first invokation) the associated mrpt::opengl::CText object representing the label of the object.

See also

enableShowName()

Definition at line 238 of file CRenderizable.cpp.

References mrpt::opengl::CText::setString().

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

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notifyChange()

void mrpt::opengl::CRenderizable::notifyChange ( ) const

inline

Call to enable calling renderUpdateBuffers() before the next render() rendering iteration.

Definition at line 315 of file CRenderizable.h.

References m_outdatedBuffers.

Referenced by mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::opengl::CMesh::adjustGridToImageAR(), mrpt::opengl::CVectorField2D::adjustVectorFieldToGrid(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CRenderizableShaderTexturedTriangles::assignImage(), mrpt::opengl::CMeshFast::assignImage(), mrpt::opengl::CMesh::assignImage(), 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::CPointCloud::clear(), mrpt::opengl::CPointCloudColoured::clear(), mrpt::opengl::COctoMapVoxels::clear(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::CRenderizableShaderWireFrame::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), mrpt::opengl::CSetOfLines::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), mrpt::opengl::CPointCloud::enableColorFromX(), mrpt::opengl::CPointCloud::enableColorFromY(), mrpt::opengl::CMeshFast::enableColorFromZ(), mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::CPointCloud::enableColorFromZ(), mrpt::opengl::COctoMapVoxels::enableCubeTransparency(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::enableDrawSolid3D(), mrpt::opengl::CMesh3D::enableFaceNormals(), mrpt::opengl::COctoMapVoxels::enableLights(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CPointCloud::enablePointSmooth(), 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::CMeshFast::enableTransparency(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CAngularObservationMesh::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::CPointCloud::insertPoint(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::CPointCloud::loadFromPointsList(), mrpt::opengl::CPointCloudColoured::loadFromPointsMap(), mrpt::opengl::CPointCloud::loadFromPointsMap(), mrpt::opengl::CMesh3D::loadMesh(), mrpt::opengl::CAssimpModel::loadScene(), mrpt::opengl::CPointCloudColoured::push_back(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::opengl::CRenderizableShaderTexturedTriangles::readFromStreamTexturedObject(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::CSetOfLines::reserve(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), mrpt::opengl::CPointCloudColoured::resize(), 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::CArrow::serializeFrom(), mrpt::opengl::CSphere::serializeFrom(), mrpt::opengl::CGridPlaneXY::serializeFrom(), mrpt::opengl::CAxis::serializeFrom(), mrpt::opengl::CGridPlaneXZ::serializeFrom(), mrpt::opengl::CDisk::serializeFrom(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CColorBar::serializeFrom(), mrpt::opengl::CVectorField2D::serializeFrom(), mrpt::opengl::CMeshFast::serializeFrom(), mrpt::opengl::CMesh::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CBox::serializeFrom(), mrpt::opengl::CText3D::serializeFrom(), mrpt::opengl::CAssimpModel::serializeFrom(), mrpt::opengl::CPolyhedron::serializeFrom(), mrpt::opengl::CPointCloudColoured::serializeFrom(), mrpt::opengl::CFrustum::serializeFrom(), mrpt::opengl::COctoMapVoxels::serializeFrom(), mrpt::opengl::CPointCloud::setAllPoints(), mrpt::opengl::CPointCloud::setAllPointsFast(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), mrpt::opengl::CBox::setBoxCorners(), mrpt::opengl::CSetOfTriangles::setColor_u8(), mrpt::opengl::CSetOfTriangles::setColorA_u8(), mrpt::opengl::CColorBar::setColorAndValueLimits(), mrpt::opengl::CSetOfTriangles::setColorB_u8(), mrpt::opengl::CSetOfTriangles::setColorG_u8(), mrpt::opengl::CColorBar::setColormap(), mrpt::opengl::CSetOfTriangles::setColorR_u8(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::CText::setFont(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CGridPlaneXZ::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::CRenderizableShaderWireFrame::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CMesh::setMask(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::CFrustum::setNearFarPlanes(), mrpt::opengl::CSphere::setNumberDivsLatitude(), 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::CPointCloudColoured::setPoint(), mrpt::opengl::CPointCloud::setPoint(), mrpt::opengl::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), 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::CArrow::setSlicesCount(), mrpt::opengl::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CText::setString(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CAxis::setTextScale(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CAxis::setTickMarksLength(), 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::COctoMapVoxels::setVisualizationMode(), mrpt::opengl::COctoMapVoxels::setVoxelAsPointsSize(), mrpt::opengl::CBox::setWireframe(), mrpt::opengl::CAngularObservationMesh::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::CMeshFast::updateColorsMatrix(), mrpt::opengl::CMesh::updateColorsMatrix(), mrpt::opengl::CMeshFast::updatePoints(), mrpt::opengl::CSetOfTriangles::updatePolygons(), mrpt::opengl::CMesh::updatePolygons(), and mrpt::opengl::CMesh::updateTriangles().

readFromStreamRender()

void CRenderizable::readFromStreamRender ( mrpt::serialization::CArchive &  in )

protected

Definition at line 99 of file CRenderizable.cpp.

References mrpt::obs::gnss::pitch, mrpt::serialization::CArchive::ReadBuffer(), mrpt::obs::gnss::roll, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::opengl::CGridPlaneXY::serializeFrom(), mrpt::opengl::CGridPlaneXZ::serializeFrom(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CPolyhedron::serializeFrom(), and mrpt::opengl::CFrustum::serializeFrom().

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render()

virtual void mrpt::opengl::CRenderizable::render ( const RenderContext &  rc ) const

pure virtual

Implements the rendering of 3D objects in each class derived from CRenderizable.

This can be called more than once (one per required shader program) if the object registered several shaders.

See also

renderUpdateBuffers

Implemented in mrpt::opengl::CAngularObservationMesh, mrpt::opengl::COctoMapVoxels, mrpt::opengl::CCamera, mrpt::opengl::CVectorField3D, mrpt::opengl::CSetOfObjects, mrpt::opengl::CText, mrpt::opengl::CPlanarLaserScan, mrpt::opengl::CFrustum, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::opengl::CPolyhedron, mrpt::opengl::CAssimpModel, mrpt::opengl::CMesh, mrpt::opengl::CRenderizableShaderPoints, mrpt::opengl::CBox, mrpt::opengl::CMesh3D, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CSetOfLines, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CRenderizableShaderText, mrpt::opengl::CRenderizableShaderTexturedTriangles, mrpt::opengl::CRenderizableShaderTriangles, mrpt::opengl::CAxis, and mrpt::opengl::CRenderizableShaderWireFrame.

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

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renderUpdateBuffers()

virtual void mrpt::opengl::CRenderizable::renderUpdateBuffers ( ) const

pure virtual

Called whenever m_outdatedBuffers is true: used to re-generate OpenGL vertex buffers, etc.

before they are sent for rendering in render()

Implemented in mrpt::opengl::CAngularObservationMesh, mrpt::opengl::COctoMapVoxels, mrpt::opengl::CCamera, mrpt::opengl::CVectorField3D, mrpt::opengl::CSetOfObjects, mrpt::opengl::CPlanarLaserScan, mrpt::opengl::CFrustum, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::opengl::CPolyhedron, mrpt::opengl::CAssimpModel, mrpt::opengl::CMesh, mrpt::opengl::CRenderizableShaderPoints, mrpt::opengl::CBox, mrpt::opengl::CMesh3D, mrpt::opengl::CSetOfLines, mrpt::opengl::CRenderizableShaderText, mrpt::opengl::CRenderizableShaderTexturedTriangles, mrpt::opengl::CRenderizableShaderTriangles, mrpt::opengl::CRenderizableShaderWireFrame, and mrpt::opengl::CSphere.

Referenced by updateBuffers().

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requiredShaders()

virtual shader_list_t mrpt::opengl::CRenderizable::requiredShaders ( ) const

inlinevirtual

Returns the ID of the OpenGL shader program required to render this class.

See also

DefaultShaderID

Reimplemented in mrpt::opengl::CAngularObservationMesh, mrpt::opengl::COctoMapVoxels, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CVectorField3D, mrpt::opengl::CPlanarLaserScan, mrpt::opengl::CFrustum, mrpt::opengl::CSetOfObjects, mrpt::opengl::CText, mrpt::opengl::CVectorField2D, mrpt::opengl::CColorBar, mrpt::opengl::CPolyhedron, mrpt::opengl::CAssimpModel, mrpt::opengl::CMesh, mrpt::opengl::CMesh3D, mrpt::opengl::CBox, mrpt::opengl::CSetOfLines, mrpt::opengl::CRenderizableShaderPoints, mrpt::opengl::CRenderizableShaderText, mrpt::opengl::CRenderizableShaderTexturedTriangles, mrpt::opengl::CRenderizableShaderTriangles, and mrpt::opengl::CRenderizableShaderWireFrame.

Definition at line 300 of file CRenderizable.h.

References THROW_EXCEPTION.

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

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serializeFrom() [1/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CArchive &  in, uint8_t  serial_version  )

protectedpure virtualinherited

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

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.

Exceptions

std::exception

On any I/O error

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::maps::CRandomFieldGridMap3D, mrpt::hmtslam::THypothesisIDSet, mrpt::detectors::CDetectable3D, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationRotatingScan, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::opengl::COpenGLScene, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservation2DRangeScan, mrpt::opengl::CFrustum, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::poses::CPose3DQuat, mrpt::opengl::CPolyhedron, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CBox, mrpt::opengl::CEllipsoid2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CEllipsoid3D, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMesh, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CColorBar, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CCamera, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::opengl::CSetOfLines, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CActionRobotMovement2D, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSphere, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::img::TCamera, mrpt::maps::CPointsMapXYZI, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CPolygon, mrpt::opengl::CTexturedPlane, mrpt::poses::CPoint2DPDFGaussian, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, and MyNS::Foo.

Referenced by mrpt::serialization::CArchive::internal_ReadObject(), and mrpt::serialization::CSchemeArchiveBase::WriteObject().

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serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase &  in )

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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serializeGetVersion()

virtual uint8_t mrpt::serialization::CSerializable::serializeGetVersion ( ) const

protectedpure virtualinherited

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.

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::maps::CRandomFieldGridMap3D, mrpt::hmtslam::THypothesisIDSet, mrpt::detectors::CDetectable3D, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationRotatingScan, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::opengl::COpenGLScene, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservation2DRangeScan, mrpt::opengl::CFrustum, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::poses::CPose3DQuat, mrpt::opengl::CPolyhedron, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CBox, mrpt::opengl::CEllipsoid2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CEllipsoid3D, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMesh, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CColorBar, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CCamera, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::opengl::CSetOfLines, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CActionRobotMovement2D, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSphere, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::img::TCamera, mrpt::maps::CPointsMapXYZI, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CPolygon, mrpt::opengl::CTexturedPlane, mrpt::poses::CPoint2DPDFGaussian, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, and MyNS::Foo.

Referenced by mrpt::serialization::CArchive::WriteObject().

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serializeTo() [1/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CArchive &  out ) const

protectedpure virtualinherited

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception

On any I/O error

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::maps::CRandomFieldGridMap3D, mrpt::hmtslam::THypothesisIDSet, mrpt::detectors::CDetectable3D, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationRotatingScan, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::opengl::COpenGLScene, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservation2DRangeScan, mrpt::opengl::CFrustum, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::poses::CPose3DQuat, mrpt::opengl::CPolyhedron, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CBox, mrpt::opengl::CEllipsoid2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CEllipsoid3D, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMesh, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CColorBar, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CCamera, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::opengl::CSetOfLines, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CActionRobotMovement2D, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSphere, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::img::TCamera, mrpt::maps::CPointsMapXYZI, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CPolygon, mrpt::opengl::CTexturedPlane, mrpt::poses::CPoint2DPDFGaussian, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, and MyNS::Foo.

Referenced by mrpt::serialization::CSchemeArchiveBase::ReadObject(), and mrpt::serialization::CArchive::WriteObject().

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serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase &  out ) const

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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setColor() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::img::TColorf &  c )

inline

Changes the default object color.

Returns

a ref to this

Definition at line 234 of file CRenderizable.h.

References mrpt::img::TColorf::A, mrpt::img::TColorf::B, mrpt::f2u8(), mrpt::img::TColorf::G, mrpt::img::TColorf::R, and setColor_u8().

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setColor() [2/2]

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

inline

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

Returns

a ref to this

Definition at line 242 of file CRenderizable.h.

References mrpt::f2u8(), G, R, and setColor_u8().

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setColor_u8() [1/2]

CRenderizable & CRenderizable::setColor_u8 ( const mrpt::img::TColor &  c )

virtual

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 229 of file CRenderizable.cpp.

References mrpt::img::TColor::A, mrpt::img::TColor::B, mrpt::img::TColor::G, and mrpt::img::TColor::R.

Referenced by setColor(), and setColor_u8().

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setColor_u8() [2/2]

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

inline

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

Returns

a ref to this

Definition at line 254 of file CRenderizable.h.

References G, R, and setColor_u8().

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setColorA()

CRenderizable& mrpt::opengl::CRenderizable::setColorA ( const float  a )

inline

Color components in the range [0,1].

Returns

a ref to this

Definition at line 180 of file CRenderizable.h.

References mrpt::f2u8(), and setColorA_u8().

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setColorA_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorA_u8 ( const uint8_t  a )

inlinevirtual

Color components in the range [0,255].

Returns

a ref to this

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 200 of file CRenderizable.h.

References mrpt::img::TColor::A, and m_color.

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject(), setColorA(), and mrpt::opengl::CSetOfObjects::setColorA_u8().

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setColorB()

CRenderizable& mrpt::opengl::CRenderizable::setColorB ( const float  b )

inline

Color components in the range [0,1].

Returns

a ref to this

Definition at line 178 of file CRenderizable.h.

References mrpt::f2u8(), and setColorB_u8().

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setColorB_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorB_u8 ( const uint8_t  b )

inlinevirtual

Color components in the range [0,255].

Returns

a ref to this

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 194 of file CRenderizable.h.

References mrpt::img::TColor::B, and m_color.

Referenced by setColorB(), and mrpt::opengl::CSetOfObjects::setColorB_u8().

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setColorG()

CRenderizable& mrpt::opengl::CRenderizable::setColorG ( const float  g )

inline

Color components in the range [0,1].

Returns

a ref to this

Definition at line 176 of file CRenderizable.h.

References mrpt::f2u8(), and setColorG_u8().

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setColorG_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorG_u8 ( const uint8_t  g )

inlinevirtual

Color components in the range [0,255].

Returns

a ref to this

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 188 of file CRenderizable.h.

References mrpt::img::TColor::G, and m_color.

Referenced by setColorG(), and mrpt::opengl::CSetOfObjects::setColorG_u8().

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setColorR()

CRenderizable& mrpt::opengl::CRenderizable::setColorR ( const float  r )

inline

Color components in the range [0,1].

Returns

a ref to this

Definition at line 174 of file CRenderizable.h.

References mrpt::f2u8(), and setColorR_u8().

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setColorR_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorR_u8 ( const uint8_t  r )

inlinevirtual

Color components in the range [0,255].

Returns

a ref to this

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 182 of file CRenderizable.h.

References m_color, and mrpt::img::TColor::R.

Referenced by setColorR(), and mrpt::opengl::CSetOfObjects::setColorR_u8().

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setLocalRepresentativePoint()

void mrpt::opengl::CRenderizable::setLocalRepresentativePoint ( const mrpt::math::TPoint3Df &  p )

inline

See getLocalRepresentativePoint()

Definition at line 347 of file CRenderizable.h.

References m_representativePoint.

setLocation() [1/2]

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

inline

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

Returns

a ref to this

Definition at line 121 of file CRenderizable.h.

References m_pose, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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setLocation() [2/2]

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

inline

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

Returns

a ref to this

Definition at line 131 of file CRenderizable.h.

References m_pose, mrpt::math::TPoint3D_data< T >::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint3D_data< T >::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::TPoint3D_data< T >::z.

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setName()

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

inline

Changes the name of the object.

Definition at line 73 of file CRenderizable.h.

References m_name.

setPose() [1/6]

CRenderizable & CRenderizable::setPose

(

const mrpt::poses::CPose3D &

o

)

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

Definition at line 189 of file CRenderizable.cpp.

Referenced by mrpt::opengl::COpenGLViewport::setCurrentCameraFromPose().

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setPose() [2/6]

CRenderizable & CRenderizable::setPose

(

const mrpt::poses::CPose2D &

o

)

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

Definition at line 194 of file CRenderizable.cpp.

setPose() [3/6]

CRenderizable & CRenderizable::setPose

(

const mrpt::math::TPose3D &

o

)

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

Definition at line 199 of file CRenderizable.cpp.

setPose() [4/6]

CRenderizable & CRenderizable::setPose

(

const mrpt::math::TPose2D &

o

)

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

Definition at line 204 of file CRenderizable.cpp.

setPose() [5/6]

CRenderizable & CRenderizable::setPose

(

const mrpt::poses::CPoint3D &

o

)

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 211 of file CRenderizable.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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setPose() [6/6]

CRenderizable & CRenderizable::setPose

(

const mrpt::poses::CPoint2D &

o

)

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 217 of file CRenderizable.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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setScale() [1/2]

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

inline

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

Returns

a ref to this

Definition at line 208 of file CRenderizable.h.

References m_scale_x, m_scale_y, and m_scale_z.

setScale() [2/2]

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

inline

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

Returns

a ref to this

Definition at line 215 of file CRenderizable.h.

References m_scale_x, m_scale_y, and m_scale_z.

setVisibility()

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

inline

Set object visibility (default=true)

See also

isVisible

Definition at line 81 of file CRenderizable.h.

References m_visible.

traceRay()

bool CRenderizable::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 in mrpt::opengl::CPolyhedron, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CMesh, mrpt::opengl::CSetOfObjects, mrpt::opengl::CFrustum, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::opengl::CTexturedPlane, mrpt::opengl::CDisk, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::CEllipsoid2D, mrpt::opengl::CSphere, mrpt::opengl::CEllipsoid3D, and mrpt::opengl::CCylinder.

Definition at line 224 of file CRenderizable.cpp.

updateBuffers()

void mrpt::opengl::CRenderizable::updateBuffers ( ) const

inline

Calls renderUpdateBuffers() and clear the flag that is set with notifyChange()

Definition at line 307 of file CRenderizable.h.

References m_outdatedBuffers, and renderUpdateBuffers().

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

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writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

writeToStreamRender()

void CRenderizable::writeToStreamRender ( mrpt::serialization::CArchive &  out ) const

protected

Definition at line 44 of file CRenderizable.cpp.

References out.

Referenced by mrpt::opengl::CGridPlaneXY::serializeTo(), mrpt::opengl::CGridPlaneXZ::serializeTo(), mrpt::opengl::CSetOfLines::serializeTo(), mrpt::opengl::CVectorField3D::serializeTo(), mrpt::opengl::CPolyhedron::serializeTo(), and mrpt::opengl::CFrustum::serializeTo().

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Friends And Related Function Documentation

mrpt::opengl::COpenGLViewport

friend class mrpt::opengl::COpenGLViewport

friend

Definition at line 52 of file CRenderizable.h.

mrpt::opengl::CSetOfObjects

friend class mrpt::opengl::CSetOfObjects

friend

Definition at line 53 of file CRenderizable.h.

Member Data Documentation

m_color

mrpt::img::TColor mrpt::opengl::CRenderizable::m_color

protected

Color components in the range [0,255].

Definition at line 59 of file CRenderizable.h.

Referenced by mrpt::opengl::CMeshFast::CMeshFast(), mrpt::opengl::CVectorField3D::CVectorField3D(), getColor(), getColor_u8(), getColorA(), getColorA_u8(), getColorB(), getColorB_u8(), getColorG(), getColorG_u8(), getColorR(), getColorR_u8(), mrpt::opengl::CSetOfLines::onUpdateBuffers_Points(), mrpt::opengl::CPolyhedron::onUpdateBuffers_Triangles(), mrpt::opengl::CSetOfLines::onUpdateBuffers_Wireframe(), mrpt::opengl::CPolyhedron::onUpdateBuffers_Wireframe(), mrpt::opengl::CGridPlaneXZ::onUpdateBuffers_Wireframe(), mrpt::opengl::CGridPlaneXY::onUpdateBuffers_Wireframe(), setColorA_u8(), setColorB_u8(), setColorG_u8(), and setColorR_u8().

m_label_obj

std::shared_ptr<mrpt::opengl::CText> mrpt::opengl::CRenderizable::m_label_obj

mutableprotected

Optional pointer to a mrpt::opengl::CText.

Definition at line 372 of file CRenderizable.h.

m_name

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

protected

Definition at line 56 of file CRenderizable.h.

Referenced by getName(), and setName().

m_outdatedBuffers

bool mrpt::opengl::CRenderizable::m_outdatedBuffers = true

protected

Definition at line 368 of file CRenderizable.h.

Referenced by hasToUpdateBuffers(), notifyChange(), and updateBuffers().

m_pose

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

protected

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 62 of file CRenderizable.h.

Referenced by mrpt::opengl::CGridPlaneXY::getBoundingBox(), mrpt::opengl::CGridPlaneXZ::getBoundingBox(), mrpt::opengl::CAssimpModel::getBoundingBox(), mrpt::opengl::CFrustum::getBoundingBox(), mrpt::opengl::CPolyhedron::getBoundingBox(), mrpt::opengl::CSetOfLines::getBoundingBox(), mrpt::opengl::CVectorField3D::getBoundingBox(), getPosePitch(), getPosePitchRad(), getPoseRef(), getPoseRoll(), getPoseRollRad(), getPoseX(), getPoseY(), getPoseYaw(), getPoseYawRad(), getPoseZ(), mrpt::opengl::CPolyhedron::getSetOfPolygonsAbsolute(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::renderUpdateBuffers(), setLocation(), and mrpt::opengl::CPolyhedron::traceRay().

m_representativePoint

mrpt::math::TPoint3Df mrpt::opengl::CRenderizable::m_representativePoint {0, 0, 0}

protected

Definition at line 369 of file CRenderizable.h.

Referenced by getLocalRepresentativePoint(), and setLocalRepresentativePoint().

m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x {1}

protected

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

Definition at line 64 of file CRenderizable.h.

Referenced by getScaleX(), and setScale().

m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y {1}

protected

Definition at line 64 of file CRenderizable.h.

Referenced by getScaleY(), and setScale().

m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z {1}

protected

Definition at line 64 of file CRenderizable.h.

Referenced by getScaleZ(), and setScale().

m_show_name

bool mrpt::opengl::CRenderizable::m_show_name {false}

protected

Definition at line 57 of file CRenderizable.h.

Referenced by enableShowName(), and isShowNameEnabled().

m_visible

bool mrpt::opengl::CRenderizable::m_visible {true}

protected

Is the object visible? (default=true)

Definition at line 66 of file CRenderizable.h.

Referenced by isVisible(), and setVisibility().

runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::opengl::CRenderizable::runtimeClassId

staticprotected

Definition at line 50 of file CRenderizable.h.