CVisualizer.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CVISUALIZER_H
#define CVISUALIZER_H
 
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CSetOfLines.h>
#include <mrpt/opengl/CSimpleLine.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CPointCloud.h>
#include <mrpt/opengl/stock_objects.h>
#include <mrpt/system/TParameters.h>
#include <mrpt/graphs/CNetworkOfPoses.h>
 
namespace mrpt
{
namespace graphs
{
namespace detail
{
/**\brief Base class for C*Visualizer classes.
 *
 * By default provides visualization for a CNetowrkOfPoses containing nodes and
 * edges as constructed by a single agent/robot. Derived classes can inherit
 * and partially modify the class behavior
 */
template <
        class CPOSE,  // Type of edges
        class MAPS_IMPLEMENTATION,  // Use std::map<> vs. std::vector<>
        class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotations,
        class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
class CVisualizer
{
   public:
        using GRAPH_T = mrpt::graphs::CNetworkOfPoses<
                CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>;
        /**\brief Constructor
         */
        CVisualizer(const GRAPH_T& graph_in);
        /**\brief Destructor
         */
        virtual ~CVisualizer();
        /**\brief Common visualization stuff for all derived classes
         *
         * Function delegates visualization tasks to the draw* methods according to
         * the user preferences
         *
         */
        virtual void getAs3DObject(
                mrpt::opengl::CSetOfObjects::Ptr& object,
                mrpt::system::TParametersDouble viz_params) const;
 
   protected:
        /**\name Work-splitting methods
         * \brief Smaller functions that do add very specific parts to the visual
         * representation
         *
         * Following functions take an optional TParametersDouble instance
         * containing
         * visualization parameters
         *
         */
        /**\{ */
        virtual void drawGroundGrid(
                mrpt::opengl::CSetOfObjects::Ptr& object,
                const mrpt::system::TParametersDouble* viz_params = NULL) const;
        virtual void drawNodeCorners(
                mrpt::opengl::CSetOfObjects::Ptr& object,
                const mrpt::system::TParametersDouble* viz_params = NULL) const;
        virtual void drawNodePoints(
                mrpt::opengl::CSetOfObjects::Ptr& object,
                const mrpt::system::TParametersDouble* viz_params = NULL) const;
        virtual void drawEdgeRelPoses(
                mrpt::opengl::CSetOfObjects::Ptr& object,
                const mrpt::system::TParametersDouble* viz_params = NULL) const;
        virtual void drawEdges(
                mrpt::opengl::CSetOfObjects::Ptr& object,
                const mrpt::system::TParametersDouble* viz_params = NULL) const;
 
        /**\} */
 
        bool m_is_3D_graph;
        const GRAPH_T& m_graph;
};
}  // namespace detail
}  // namespace graphs
}  // namespace mrpt
 
#include <mrpt/graphs/CVisualizer_impl.h>
 
#endif /* end of include guard: CVISUALIZER_H */