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CGridPlaneXZ.cpp
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #include "opengl-precomp.h" // Precompiled header
11 
14 
15 #include "opengl_internals.h"
16 
17 using namespace mrpt;
18 using namespace mrpt::opengl;
19 
20 using namespace std;
21 
23 
25  float xMin, float xMax, float zMin, float zMax, float y, float frequency,
26  float lineWidth, bool antiAliasing)
27 {
28  return CGridPlaneXZ::Ptr(
29  new CGridPlaneXZ(
30  xMin, xMax, zMin, zMax, y, frequency, lineWidth, antiAliasing));
31 }
32 
33 /** Constructor */
35  float xMin, float xMax, float zMin, float zMax, float y, float frequency,
36  float lineWidth, bool antiAliasing)
37  : m_xMin(xMin),
38  m_xMax(xMax),
39  m_zMin(zMin),
40  m_zMax(zMax),
41  m_plane_y(y),
42  m_frequency(frequency),
43  m_lineWidth(lineWidth),
44  m_antiAliasing(antiAliasing)
45 {
46 }
47 
48 /*---------------------------------------------------------------
49  render
50  ---------------------------------------------------------------*/
52 {
53 #if MRPT_HAS_OPENGL_GLUT
54  ASSERT_(m_frequency >= 0);
55 
56  // Enable antialiasing:
57  if (m_antiAliasing)
58  {
63  }
65 
66  glDisable(GL_LIGHTING); // Disable lights when drawing lines
68 
69  ASSERT_(m_frequency >= 0);
70 
71  for (float z = m_zMin; z <= m_zMax; z += m_frequency)
72  {
75  }
76 
77  for (float x = m_xMin; x <= m_xMax; x += m_frequency)
78  {
81  }
82 
83  glEnd();
85 
86  // End antialiasing:
87  if (m_antiAliasing)
88  {
89  glPopAttrib();
91  }
92 #endif
93 }
94 
97 {
99  out << m_xMin << m_xMax;
100  out << m_zMin << m_zMax << m_plane_y;
101  out << m_frequency;
102  out << m_lineWidth << m_antiAliasing; // v1
103 }
104 
107 {
108  switch (version)
109  {
110  case 0:
111  case 1:
112  {
114  in >> m_xMin >> m_xMax;
115  in >> m_zMin >> m_zMax >> m_plane_y;
116  in >> m_frequency;
117  if (version >= 1)
119  else
120  {
121  m_lineWidth = 1.0f;
122  m_antiAliasing = true;
123  }
124  }
125  break;
126  default:
128  };
130 }
131 
133  mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
134 {
135  bb_min.x = m_xMin;
136  bb_min.y = 0;
137  bb_min.z = m_zMin;
138 
139  bb_max.x = m_xMax;
140  bb_max.y = 0;
141  bb_max.z = m_zMax;
142 
143  // Convert to coordinates of my parent:
144  m_pose.composePoint(bb_min, bb_min);
145  m_pose.composePoint(bb_max, bb_max);
146 }
GLdouble GLdouble z
Definition: glext.h:3872
GLAPI void GLAPIENTRY glEnable(GLenum cap)
#define IMPLEMENTS_SERIALIZABLE(class_name, base, NameSpace)
This must be inserted in all CSerializable classes implementation files.
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
STL namespace.
#define GL_ONE_MINUS_SRC_ALPHA
Definition: glew.h:287
GLAPI void GLAPIENTRY glPopAttrib(void)
#define GL_LIGHTING
Definition: glew.h:385
GLAPI void GLAPIENTRY glLineWidth(GLfloat width)
mrpt::poses::CPose3D m_pose
6D pose wrt the parent coordinate reference.
Definition: CRenderizable.h:57
A grid of lines over the XZ plane.
Definition: CGridPlaneXZ.h:32
GLAPI void GLAPIENTRY glBlendFunc(GLenum sfactor, GLenum dfactor)
unsigned char uint8_t
Definition: rptypes.h:41
A renderizable object suitable for rendering with OpenGL&#39;s display lists.
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
Definition: exceptions.h:90
#define ASSERT_(f)
Defines an assertion mechanism.
Definition: exceptions.h:113
#define GL_COLOR_BUFFER_BIT
Definition: glew.h:265
void writeToStreamRender(mrpt::serialization::CArchive &out) const
#define GL_LINE_SMOOTH
Definition: glew.h:367
CGridPlaneXZ(float xMin=-10, float xMax=10, float zMin=-10, float zMax=10, float y=0, float frequency=1, float lineWidth=1.3f, bool antiAliasing=true)
Constructor.
void serializeTo(mrpt::serialization::CArchive &out) const override
Pure virtual method for writing (serializing) to an abstract archive.
double x
X,Y,Z coordinates.
GLAPI void GLAPIENTRY glBegin(GLenum mode)
#define GL_BLEND
Definition: glew.h:432
uint8_t serializeGetVersion() const override
Must return the current versioning number of the object.
GLAPI void GLAPIENTRY glVertex3f(GLfloat x, GLfloat y, GLfloat z)
#define GL_SRC_ALPHA
Definition: glew.h:286
static void checkOpenGLError()
Checks glGetError and throws an exception if an error situation is found.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Virtual base class for "archives": classes abstracting I/O streams.
Definition: CArchive.h:48
GLAPI void GLAPIENTRY glPushAttrib(GLbitfield mask)
void composePoint(double lx, double ly, double lz, double &gx, double &gy, double &gz, mrpt::math::CMatrixFixedNumeric< double, 3, 3 > *out_jacobian_df_dpoint=nullptr, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *out_jacobian_df_dpose=nullptr, mrpt::math::CMatrixFixedNumeric< double, 3, 6 > *out_jacobian_df_dse3=nullptr, bool use_small_rot_approx=false) const
An alternative, slightly more efficient way of doing with G and L being 3D points and P this 6D pose...
Definition: CPose3D.cpp:379
void render_dl() const override
Render.
GLuint in
Definition: glext.h:7274
The namespace for 3D scene representation and rendering.
Definition: CGlCanvasBase.h:15
std::shared_ptr< CGridPlaneXZ > Ptr
Definition: CGridPlaneXZ.h:34
GLAPI void GLAPIENTRY glEnd(void)
void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const override
Evaluates the bounding box of this object (including possible children) in the coordinate frame of th...
GLenum GLint GLint y
Definition: glext.h:3538
#define GL_LINES
Definition: glew.h:273
void serializeFrom(mrpt::serialization::CArchive &in, uint8_t serial_version) override
Pure virtual method for reading (deserializing) from an abstract archive.
GLenum GLint x
Definition: glext.h:3538
Lightweight 3D point.
GLAPI void GLAPIENTRY glDisable(GLenum cap)
void readFromStreamRender(mrpt::serialization::CArchive &in)
#define GL_LINE_BIT
Definition: glew.h:253



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