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graph_tools.h
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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 #ifndef opengl_graph_tools_H
10 #define opengl_graph_tools_H
11 
14 
15 namespace mrpt
16 {
17 /** \ingroup mrpt_opengl_grp */
18 namespace opengl
19 {
20 /** Tool functions for graphs of pose constraints. \ingroup mrpt_opengl_grp */
21 namespace graph_tools
22 {
23 /** @name Tool functions for graphs of pose constraints
24  @{ */
25 
26 /** Returns an opengl objects representation of an arbitrary graph, as a network
27  *of 3D pose frames.
28  * Note that the "global" coordinates of each node are taken from
29  *mrpt::graphs::CNetworkOfPoses::nodes, so
30  * if a node appears in "edges" but not in "nodes" it will be not displayed.
31  *
32  * \param g The graph
33  * \param extra_params An extra set of optional parameters (see below).
34  * List of accepted extra parameters (note that all are double values, booleans
35  *are emulated with 0 & !=0 values):
36  *
37  * <table align="center" >
38  * <tr> <td align="center" ><b>Parameter name</b></td> <td align="center" >
39  *<b>Description</b> </td> <td align="center" ><b>Default value</b></td> </tr>
40  * <tr>
41  * <td align="center" ><code> show_ID_labels </code></td>
42  * <td> If set to !=0, show poses ID labels </td>
43  * <td align="center" > 0 (don't show) </td>
44  * </tr>
45  * <tr>
46  * <td align="center" ><code> show_ground_grid </code></td>
47  * <td> If set to !=0, create a gray grid on the ground level
48  *(mrpt::opengl::CGridPlaneXY). The extension of the grid is computed to cover
49  *the entire graph extension </td>
50  * <td align="center" > 1 (do show) </td>
51  * </tr>
52  * <tr>
53  * <td align="center" ><code> show_edges </code></td>
54  * <td> If set to !=0, draw lines between nodes with at least one edge
55  *between them. </td>
56  * <td align="center" > 1 (do show) </td>
57  * </tr>
58  * <tr>
59  * <td align="center" ><code> show_node_corners </code></td>
60  * <td> If set to !=0, draw a small 3D corner frame at each node (see
61  *mrpt::opengl::stock_objects::CornerXYZSimple). </td>
62  * <td align="center" > 1 (do show) </td>
63  * </tr>
64  * <tr>
65  * <td align="center" ><code> show_edge_rel_poses </code></td>
66  * <td> If set to !=0, draw the relative poses stored in each edge as a
67  *small extra 3D corner frame at each node pose (+) the edge pose (see
68  *mrpt::opengl::stock_objects::CornerXYZSimple). </td>
69  * <td align="center" > 1 (do show) </td>
70  * </tr>
71  * <tr>
72  * <td align="center" ><code> nodes_point_size </code></td>
73  * <td> If set to !=0, draw a point of the given size (glPointSize) at
74  *each node.</td>
75  * <td align="center" > 0 (no points) </td>
76  * </tr>
77  *
78  * <tr>
79  * <td align="center" ><code> nodes_corner_scale </code></td>
80  * <td> If show_node_corners!=0, the size (length) of te corner lines.
81  *</td>
82  * <td align="center" > 0.7 </td>
83  * </tr>
84  * <tr>
85  * <td align="center" ><code> nodes_edges_corner_scale </code></td>
86  * <td> If show_edge_rel_poses is !=0, the size of the corners at the
87  *end of each drawn edge.</td>
88  * <td align="center" > 0.4 </td>
89  * </tr>
90  * <tr>
91  * <td align="center" ><code> nodes_point_color </code></td>
92  * <td> If nodes_point_size!=0, set this value to a hexadecimal int
93  *value 0xRRGGBB with the desired RGB color of points.</td>
94  * <td align="center" > 0xA0A0A0 (light gray) </td>
95  * </tr>
96  * <tr>
97  * <td align="center" ><code> edge_color </code></td>
98  * <td> If show_edges is !=0, the color of those edges as a
99  *hexadecimal int value 0xAARRGGBB with Alpha+RGB color
100  *(Alpha=0xFF:opaque,0x00:transparent).</td>
101  * <td align="center" > 0x400000FF </td>
102  * </tr>
103  *
104  * <tr>
105  * <td align="center" ><code> edge_rel_poses_color </code></td>
106  * <td> If show_edge_rel_poses is !=0, the color of those edges as a
107  *hexadecimal int value 0xAARRGGBB with Alpha+RGB color
108  *(Alpha=0xFF:opaque,0x00:transparent).</td>
109  * <td align="center" > 0x40FF8000 </td>
110  * </tr>
111  * <tr>
112  * <td align="center" ><code> edge_width </code></td>
113  * <td> If show_edges is !=0, the width of edge lines.</td>
114  * <td align="center" > 2.0 </td>
115  * </tr>
116  *
117  * </table>
118  *
119  * \sa mrpt::graphs::CNetworkOfPoses2D, mrpt::graphs::CNetworkOfPoses3D,
120  *mrpt::graphs::CNetworkOfPoses2DInf, mrpt::graphs::CNetworkOfPoses3DInf
121  * \note Implemented as headers-only in \a graph_tools_impl.h
122  * \ingroup mrpt_opengl_grp
123  */
124 template <class GRAPH_T>
126  const GRAPH_T& g, const mrpt::system::TParametersDouble& extra_params =
128 
129 /** @} */
130 }
131 }
132 
133 } // End of namespace
134 
135 #include "graph_tools_impl.h"
136 
137 #endif
GLubyte g
Definition: glext.h:6279
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
CSetOfObjects::Ptr graph_visualize(const GRAPH_T &g, const mrpt::system::TParametersDouble &extra_params=mrpt::system::TParametersDouble())
Returns an opengl objects representation of an arbitrary graph, as a network of 3D pose frames...



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