class mrpt::viz::CSetOfTriangles

Python API: mrpt.viz.CSetOfTriangles

Overview

A set of colored triangles, able to draw any solid, arbitrarily complex object without textures.

For textures, see CSetOfTexturedTriangles

See also:

#include <mrpt/viz/CSetOfTriangles.h>

class CSetOfTriangles:
    public mrpt::viz::CVisualObject,
    public mrpt::viz::VisualObjectParams_Triangles
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::viz ::CSetOfTriangles> Ptr;
    typedef std::shared_ptr<const mrpt::viz ::CSetOfTriangles> ConstPtr;
    typedef std::unique_ptr<mrpt::viz ::CSetOfTriangles> UniquePtr;
    typedef std::unique_ptr<const mrpt::viz ::CSetOfTriangles> ConstUniquePtr;
    typedef std::vector<TTriangle>::const_iterator const_iterator;
    typedef std::vector<TTriangle>::const_reverse_iterator const_reverse_iterator;

    // fields

    static constexpr const char* className = "mrpt::viz" "::" "CSetOfTriangles";

    // construction

    CSetOfTriangles();

    // methods

    static constexpr auto getClassName();
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    static std::shared_ptr<CObject> CreateObject();

    template <typename... Args>
    static Ptr Create(Args&&... args);

    template <typename Alloc, typename... Args>
    static Ptr CreateAlloc(
        const Alloc& alloc,
        Args&&... args
        );

    template <typename... Args>
    static UniquePtr CreateUnique(Args&&... args);

    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual mrpt::rtti::CObject* clone() const;
    void updatePolygons() const;
    void clearTriangles();
    size_t getTrianglesCount() const;
    void getTriangle(size_t idx, TTriangle& t) const;
    void insertTriangle(const TTriangle& t);

    template <class InputIterator>
    void insertTriangles(
        const InputIterator& begin,
        const InputIterator& end
        );

    void insertTriangles(const CSetOfTriangles::Ptr& p);
    void reserve(size_t t);
    virtual CVisualObject& setColor_u8(const mrpt::img::TColor& c);
    virtual CVisualObject& setColorA_u8(const uint8_t a);
    virtual bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const;
    void getPolygons(std::vector<mrpt::math::TPolygon3D>& polys) const;

    template <class CONTAINER>
    void insertTriangles(const CONTAINER& c);

    virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const;
};

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::unique_ptr<CObject> UniquePtr;
    typedef std::unique_ptr<const CObject> ConstUniquePtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef std::shared_ptr<CVisualObject> Ptr;
    typedef std::shared_ptr<const CVisualObject> ConstPtr;

    // structs

    struct BuffersVersion;
    struct ChangeCounter;
    struct PoseAndScale;
    struct State;

    // methods

    mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual CObject* clone() const = 0;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    void setName(const std::string& n);
    std::string getName() const;
    bool isVisible() const;
    void setVisibility(bool visible = true);
    bool castShadows() const;
    void castShadows(bool doCast);
    void enableShowName(bool showName = true);
    bool isShowNameEnabled() const;
    CVisualObject& setPose(const mrpt::poses::CPose3D& o);
    CVisualObject& setPose(const mrpt::poses::CPose2D& o);
    CVisualObject& setPose(const mrpt::math::TPose3D& o);
    CVisualObject& setPose(const mrpt::math::TPose2D& o);
    CVisualObject& setPose(const mrpt::poses::CPoint3D& o);
    CVisualObject& setPose(const mrpt::poses::CPoint2D& o);
    mrpt::math::TPose3D getPose() const;
    PoseAndScale getPoseAndScale() const;
    mrpt::poses::CPose3D getCPose() const;
    CVisualObject& setLocation(double x, double y, double z);
    CVisualObject& setLocation(const mrpt::math::TPoint3D& p);
    mrpt::img::TColorf getColor() const;
    mrpt::img::TColor getColor_u8() const;
    CVisualObject& setColorA(const float a);
    virtual CVisualObject& setColorA_u8(const uint8_t a);
    float materialShininess() const;
    void materialShininess(float shininess);
    float materialSpecularExponent() const;
    void materialSpecularExponent(float exponent);
    mrpt::img::TColorf materialEmissive() const;
    void materialEmissive(const mrpt::img::TColorf& color);
    CVisualObject& setScale(float s);
    CVisualObject& setScale(float sx, float sy, float sz);
    float getScaleX() const;
    float getScaleY() const;
    float getScaleZ() const;
    CVisualObject& setColor(const mrpt::img::TColorf& c);
    CVisualObject& setColor(float R, float G, float B, float A = 1);
    virtual CVisualObject& setColor_u8(const mrpt::img::TColor& c);
    CVisualObject& setColor_u8(uint8_t R, uint8_t G, uint8_t B, uint8_t A = 255);
    virtual bool cullElegible() const;
    virtual void toYAMLMap(mrpt::containers::yaml& propertiesMap) const;
    virtual bool isCompositeObject() const;
    virtual const std::deque<std::shared_ptr<CVisualObject>>& getInternalChildren() const;
    void notifyChange() const;
    void notifyTransformChange() const;
    void clearChangedFlag() const;
    void notifyBBoxChange() const;
    bool hasToUpdateBuffers() const;
    uint64_t dataVersion() const;
    uint64_t transformVersion() const;
    bool hasToUpdateBuffersSince(uint64_t sinceVersion) const;
    void updateBuffersIfNeeded() const;
    virtual void updateBuffers() const;
    virtual bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const;
    auto getBoundingBox() const;
    auto getBoundingBoxLocal() const;
    auto getBoundingBoxLocalf() const;
    virtual mrpt::math::TPoint3Df getLocalRepresentativePoint() const;
    void setLocalRepresentativePoint(const mrpt::math::TPoint3Df& p);
    mrpt::viz::CText& labelObject() const;
    std::shared_ptr<mrpt::viz::CText> labelObjectPtr() const;
    const auto& shaderTrianglesBuffer() const;
    auto& shaderTrianglesBufferMutex() const;
    bool isLightEnabled() const;
    void enableLight(bool enable = true);
    void cullFaces(const TCullFace& cf);
    TCullFace cullFaces() const;

Typedefs

typedef std::shared_ptr<mrpt::viz ::CSetOfTriangles> Ptr

A type for the associated smart pointer.

Methods

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

Returns information about the class of an object in runtime.

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

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

void updatePolygons() const

Explicitly updates the internal polygon cache, with all triangles as polygons.

See also:

getPolygons()

void clearTriangles()

Clear this object, removing all triangles.

size_t getTrianglesCount() const

Get triangle count.

void getTriangle(size_t idx, TTriangle& t) const

Gets the i-th triangle.

void insertTriangle(const TTriangle& t)

Inserts a triangle into the set.

template <class InputIterator>
void insertTriangles(
    const InputIterator& begin,
    const InputIterator& end
    )

Inserts a set of triangles, bounded by iterators, into this set.

See also:

insertTriangle

void insertTriangles(const CSetOfTriangles::Ptr& p)

Inserts an existing CSetOfTriangles into this one.

void reserve(size_t t)

Reserves memory for certain number of triangles, avoiding multiple memory allocation calls.

virtual CVisualObject& setColor_u8(const mrpt::img::TColor& c)

Overwrite all triangles colors with the one provided.

virtual CVisualObject& setColorA_u8(const uint8_t a)

Overwrite all triangles colors with the one provided.

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

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

void getPolygons(std::vector<mrpt::math::TPolygon3D>& polys) const

Gets the polygon cache.

See also:

insertTriangles

template <class CONTAINER>
void insertTriangles(const CONTAINER& c)

Inserts a set of triangles, given in a container of either TTriangle ‘s or TPolygon3D.

See also:

insertTriangle

virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const

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