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mrpt::opengl::CGeneralizedCylinder Class Reference

Detailed Description

This object represents any figure obtained by extruding any profile along a given axis.

The profile should lie over a x=0 plane, and the axis must be roughly perpendicular to this plane. In particular, it should be almost perpendicular to the Z axis.

Definition at line 28 of file CGeneralizedCylinder.h.

#include <mrpt/opengl/CGeneralizedCylinder.h>

Inheritance diagram for mrpt::opengl::CGeneralizedCylinder:
Inheritance graph

Classes

struct  TQuadrilateral
 Auxiliary struct holding any quadrilateral, represented by foour points. More...
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
void render_dl () const MRPT_OVERRIDE
 Render. More...
 
bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const MRPT_OVERRIDE
 Ray tracing. More...
 
void getAxis (std::vector< mrpt::math::TPoint3D > &a) const
 Get axis's spatial coordinates. More...
 
void getAxis (mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t &a) const
 Get axis, including angular coordinates. More...
 
void setAxis (const std::vector< mrpt::math::TPoint3D > &a)
 Set the axis points. More...
 
void getGeneratrix (std::vector< mrpt::math::TPoint3D > &g) const
 Get cylinder's profile. More...
 
void setGeneratrix (const std::vector< mrpt::math::TPoint3D > &g)
 Set cylinder's profile. More...
 
bool isClosed () const
 Returns true if each section is a closed polygon. More...
 
void setClosed (bool c=true)
 Set whether each section is a closed polygon or not. More...
 
void getOrigin (CPolyhedronPtr &poly) const
 Get a polyhedron containing the starting point of the cylinder (its "base"). More...
 
void getEnd (CPolyhedronPtr &poly) const
 Get a polyhedron containing the ending point of the cylinder (its "base"). More...
 
void generateSetOfPolygons (std::vector< mrpt::math::TPolygon3D > &res) const
 Get the cylinder as a set of polygons in 3D. More...
 
void getClosedSection (size_t index1, size_t index2, CPolyhedronPtr &poly) const
 Get a polyhedron consisting of a set of closed sections of the cylinder. More...
 
void getClosedSection (size_t index, CPolyhedronPtr &poly) const
 Get a polyhedron consisting of a single section of the cylinder. More...
 
size_t getNumberOfSections () const
 Get the number of sections in this cylinder. More...
 
size_t getVisibleSections () const
 Get how many visible sections are in the cylinder. More...
 
void getVisibleSections (size_t &first, size_t &last) const
 Gets the cylinder's visible sections. More...
 
void setAllSectionsVisible ()
 Sets all sections visible. More...
 
void setAllSectionsInvisible (size_t pointer=0)
 Hides all sections. More...
 
void setVisibleSections (size_t first, size_t last)
 Sets which sections are visible. More...
 
void addVisibleSectionAtStart ()
 Adds another visible section at the start of the cylinder. More...
 
void addVisibleSectionAtEnd ()
 Adds another visible section at the end of the cylinder. More...
 
void removeVisibleSectionAtStart ()
 Removes a visible section from the start of the currently visible set. More...
 
void removeVisibleSectionAtEnd ()
 Removes a visible section from the ending of the currently visible set. More...
 
bool getFirstSectionPose (mrpt::poses::CPose3D &p)
 Gets the axis pose of the first section, returning false if there is no such pose. More...
 
bool getLastSectionPose (mrpt::poses::CPose3D &p)
 Gets the axis pose of the last section, returning false if there is no such pose. More...
 
bool getFirstVisibleSectionPose (mrpt::poses::CPose3D &p)
 Gets the axis pose of the first visible section, returning false if there is no such pose. More...
 
bool getLastVisibleSectionPose (mrpt::poses::CPose3D &p)
 Gets the axis pose of the last section, returning false if there is no such pose. More...
 
void updatePolys () const
 Updates the mutable set of polygons used in ray tracing. More...
 
void getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE
 Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More...
 
CRenderizableDisplayListclone () const
 Interface for the stlplus smart pointer class. More...
 
void render () const MRPT_OVERRIDE
 Render the object, regenerating the display list if needed, otherwise just calling it. More...
 
virtual mxArraywriteToMatlab () 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...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
Changes the appearance of the object to render (methods from CRenderizable that need to be redefined)
CRenderizablesetColorR_u8 (const uint8_t r) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColorG_u8 (const uint8_t g) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColorB_u8 (const uint8_t b) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColorA_u8 (const uint8_t a) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColor_u8 (const mrpt::utils::TColor &c) MRPT_OVERRIDE
 Changes the default object color. More...
 
CRenderizablesetColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
 Color components in the range [0,255]. More...
 
Changes the appearance of the object to render
void setName (const std::string &n)
 Changes the name of the object. More...
 
const std::stringgetName () 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
 
CRenderizablesetPose (const mrpt::poses::CPose3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPose2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose3D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose2D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPoint3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (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::CPose3DgetPoseRef () const
 Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More...
 
CRenderizablesetLocation (double x, double y, double z)
 Changes the location of the object, keeping untouched the orientation. More...
 
CRenderizablesetLocation (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...
 
double getColorR () const
 Color components in the range [0,1]. More...
 
double getColorG () const
 Color components in the range [0,1]. More...
 
double getColorB () const
 Color components in the range [0,1]. More...
 
double 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...
 
CRenderizablesetColorR (const double r)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorG (const double g)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorB (const double b)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorA (const double a)
 Color components in the range [0,1]. More...
 
CRenderizablesetScale (float s)
 Scale to apply to the object, in all three axes (default=1) More...
 
CRenderizablesetScale (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::utils::TColorf getColor () const
 Returns the object color property as a TColorf. More...
 
CRenderizablesetColor (const mrpt::utils::TColorf &c)
 
CRenderizablesetColor (double R, double G, double B, double A=1)
 Set the color components of this object (R,G,B,Alpha, in the range 0-1) More...
 
const mrpt::utils::TColorgetColor_u8 () const
 Returns the object color property as a TColor. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static CGeneralizedCylinderPtr Create (const std::vector< mrpt::math::TPoint3D > &axis, const std::vector< mrpt::math::TPoint3D > &generatrix)
 Creation of generalized cylinder from axis and generatrix. More...
 
static void renderTextBitmap (const char *str, void *fontStyle)
 This method is safe for calling from within ::render() methods. More...
 
static void renderTextBitmap (int screen_x, int screen_y, const std::string &str, float color_r=1, float color_g=1, float color_b=1, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
 Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods) More...
 
static int textBitmapWidth (const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
 Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap(). More...
 

Static Public Attributes

static const mrpt::utils::TRuntimeClassId classCObject
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCRenderizableDisplayList
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCRenderizable
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCSerializable
 

Protected Member Functions

void writeToStreamRender (utils::CStream &out) const
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 
Methods accesible or implemented by derived classes
EIGEN_STRONG_INLINE void notifyChange () const
 Must be called to notify that the object has changed (so, the display list must be updated) More...
 
virtual bool should_skip_display_list_cache () const
 Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases. More...
 
void readFromStreamRender (mrpt::utils::CStream &in)
 

Static Protected Member Functions

static void checkOpenGLError ()
 Checks glGetError and throws an exception if an error situation is found. More...
 
static unsigned int getNewTextureNumber ()
 Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool). More...
 
static void releaseTextureName (unsigned int i)
 

Protected Attributes

mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t axis
 Cylinder's axis. More...
 
std::vector< mrpt::math::TPoint3Dgeneratrix
 Object's generatrix, that is, profile which will be extruded. More...
 
std::vector< TQuadrilateralmesh
 Mutable object with mesh information, used to avoid repeated computations. More...
 
mrpt::math::CMatrixTemplate< mrpt::math::TPoint3DpointsMesh
 Mutable object with the cylinder's points, used to avoid repeated computations. More...
 
bool meshUpToDate
 Mutable flag which tells if recalculations are needed. More...
 
std::vector< mrpt::math::TPolygonWithPlanepolys
 Mutable set of data used in ray tracing. More...
 
bool polysUpToDate
 Mutable flag telling whether ray tracing temporary data must be recalculated or not. More...
 
bool closed
 Boolean variable which determines if the profile is closed at each section. More...
 
bool fullyVisible
 Flag to determine whether the object is fully visible or only some sections are. More...
 
size_t firstSection
 First visible section, if fullyVisible is set to false. More...
 
size_t lastSection
 Last visible section, if fullyVisible is set to false. More...
 
std::string m_name
 
bool m_show_name
 
mrpt::utils::TColor m_color
 Color components in the range [0,255]. More...
 
mrpt::poses::CPose3D m_pose
 6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack. More...
 
float m_scale_x
 
float m_scale_y
 
float m_scale_z
 Scale components to apply to the object (default=1) More...
 
bool m_visible
 Is the object visible? (default=true) More...
 

Private Member Functions

void generatePoses (const std::vector< mrpt::math::TPoint3D > &pIn, mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t &pOut)
 Updates the axis, transforming each point into a pose pointing to the next section. More...
 
void updateMesh () const
 Updates the mutable mesh. More...
 
void getMeshIterators (const std::vector< TQuadrilateral > &m, std::vector< TQuadrilateral >::const_iterator &begin, std::vector< TQuadrilateral >::const_iterator &end) const
 Given a vector of polyhedrons, gets the starting and ending iterators to the section to be actually rendered. More...
 
 CGeneralizedCylinder ()
 Basic constructor with default initialization. More...
 
 CGeneralizedCylinder (const std::vector< mrpt::math::TPoint3D > &a, const std::vector< mrpt::math::TPoint3D > &g)
 Constructor with axis and generatrix. More...
 
virtual ~CGeneralizedCylinder ()
 Destructor. More...
 

RTTI stuff

typedef CGeneralizedCylinderPtr Ptr
 
typedef CGeneralizedCylinderPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CGeneralizedCylinder
 
static mrpt::utils::TRuntimeClassId classCGeneralizedCylinder
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CGeneralizedCylinderPtr Create ()
 

Member Typedef Documentation

typedef CGeneralizedCylinderPtr mrpt::opengl::CGeneralizedCylinder::ConstPtr

Definition at line 29 of file CGeneralizedCylinder.h.

typedef CGeneralizedCylinderPtr mrpt::opengl::CGeneralizedCylinder::Ptr

A typedef for the associated smart pointer

Definition at line 29 of file CGeneralizedCylinder.h.

Constructor & Destructor Documentation

mrpt::opengl::CGeneralizedCylinder::CGeneralizedCylinder ( )
inlineprivate

Basic constructor with default initialization.

Definition at line 338 of file CGeneralizedCylinder.h.

mrpt::opengl::CGeneralizedCylinder::CGeneralizedCylinder ( const std::vector< mrpt::math::TPoint3D > &  a,
const std::vector< mrpt::math::TPoint3D > &  g 
)
inlineprivate

Constructor with axis and generatrix.

Definition at line 342 of file CGeneralizedCylinder.h.

virtual mrpt::opengl::CGeneralizedCylinder::~CGeneralizedCylinder ( )
inlineprivatevirtual

Destructor.

Definition at line 348 of file CGeneralizedCylinder.h.

References DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE, and OPENGL_IMPEXP.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CGeneralizedCylinder::_GetBaseClass ( )
staticprotected
void mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtEnd ( )
inline

Adds another visible section at the end of the cylinder.

The cylinder must have an invisible section to display.

Exceptions
std::logic_errorif there is no section to add to the displaying set.
See also
addVisibleSectionAtStart,removeVisibleSectionAtStart,removeVisibleSectionAtEnd

Definition at line 281 of file CGeneralizedCylinder.h.

References begin(), MRPT_OVERRIDE, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtStart ( )
inline

Adds another visible section at the start of the cylinder.

The cylinder must have an invisble section to display.

Exceptions
std::logic_errorif there is no section to add to the displaying set.
See also
addVisibleSectionAtEnd,removeVisibleSectionAtStart,removeVisibleSectionAtEnd

Definition at line 271 of file CGeneralizedCylinder.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void CRenderizable::checkOpenGLError ( )
staticprotectedinherited
CRenderizableDisplayList* mrpt::opengl::CRenderizableDisplayList::clone ( ) const
inlineinherited

Interface for the stlplus smart pointer class.

Definition at line 71 of file CRenderizableDisplayList.h.

References MRPT_OVERRIDE.

static CGeneralizedCylinderPtr mrpt::opengl::CGeneralizedCylinder::Create ( )
static
CGeneralizedCylinderPtr CGeneralizedCylinder::Create ( const std::vector< mrpt::math::TPoint3D > &  axis,
const std::vector< mrpt::math::TPoint3D > &  generatrix 
)
static

Creation of generalized cylinder from axis and generatrix.

Definition at line 29 of file CGeneralizedCylinder.cpp.

References mrpt::opengl::CGeneralizedCylinder.

static mrpt::utils::CObject* mrpt::opengl::CGeneralizedCylinder::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::opengl::CGeneralizedCylinder::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

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

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

Definition at line 69 of file CRenderizable.h.

void CGeneralizedCylinder::generatePoses ( const std::vector< mrpt::math::TPoint3D > &  pIn,
mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t &  pOut 
)
private

Updates the axis, transforming each point into a pose pointing to the next section.

Definition at line 264 of file CGeneralizedCylinder.cpp.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void CGeneralizedCylinder::generateSetOfPolygons ( std::vector< mrpt::math::TPolygon3D > &  res) const
void mrpt::opengl::CGeneralizedCylinder::getAxis ( std::vector< mrpt::math::TPoint3D > &  a) const
inline

Get axis's spatial coordinates.

Definition at line 135 of file CGeneralizedCylinder.h.

void mrpt::opengl::CGeneralizedCylinder::getAxis ( mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t &  a) const
inline

Get axis, including angular coordinates.

Definition at line 148 of file CGeneralizedCylinder.h.

void CGeneralizedCylinder::getBoundingBox ( mrpt::math::TPoint3D bb_min,
mrpt::math::TPoint3D bb_max 
) const
virtual

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

Implements mrpt::opengl::CRenderizable.

Definition at line 312 of file CGeneralizedCylinder.cpp.

void mrpt::opengl::CGeneralizedCylinder::getClosedSection ( size_t  index1,
size_t  index2,
CPolyhedronPtr &  poly 
) const

Get a polyhedron consisting of a set of closed sections of the cylinder.

See also
mrpt::opengl::CPolyhedron
void mrpt::opengl::CGeneralizedCylinder::getClosedSection ( size_t  index,
CPolyhedronPtr &  poly 
) const
inline

Get a polyhedron consisting of a single section of the cylinder.

See also
mrpt::opengl::CPolyhedron

Definition at line 212 of file CGeneralizedCylinder.h.

mrpt::utils::TColorf mrpt::opengl::CRenderizable::getColor ( ) const
inlineinherited

Returns the object color property as a TColorf.

Definition at line 126 of file CRenderizable.h.

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

const mrpt::utils::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const
inlineinherited

Returns the object color property as a TColor.

Definition at line 135 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorA ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 102 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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

Color components in the range [0,255].

Definition at line 107 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorB ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 101 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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

Color components in the range [0,255].

Definition at line 106 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorG ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 100 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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

Color components in the range [0,255].

Definition at line 105 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorR ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 99 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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

Color components in the range [0,255].

Definition at line 104 of file CRenderizable.h.

void CGeneralizedCylinder::getEnd ( CPolyhedronPtr &  poly) const

Get a polyhedron containing the ending point of the cylinder (its "base").

See also
getOrigin,mrpt::opengl::CPolyhedron

Definition at line 178 of file CGeneralizedCylinder.cpp.

References generatePolygon().

bool CGeneralizedCylinder::getFirstSectionPose ( mrpt::poses::CPose3D p)

Gets the axis pose of the first section, returning false if there is no such pose.

Definition at line 286 of file CGeneralizedCylinder.cpp.

bool CGeneralizedCylinder::getFirstVisibleSectionPose ( mrpt::poses::CPose3D p)

Gets the axis pose of the first visible section, returning false if there is no such pose.

Definition at line 298 of file CGeneralizedCylinder.cpp.

void mrpt::opengl::CGeneralizedCylinder::getGeneratrix ( std::vector< mrpt::math::TPoint3D > &  g) const
inline

Get cylinder's profile.

Definition at line 163 of file CGeneralizedCylinder.h.

bool CGeneralizedCylinder::getLastSectionPose ( mrpt::poses::CPose3D p)

Gets the axis pose of the last section, returning false if there is no such pose.

Definition at line 292 of file CGeneralizedCylinder.cpp.

bool CGeneralizedCylinder::getLastVisibleSectionPose ( mrpt::poses::CPose3D p)

Gets the axis pose of the last section, returning false if there is no such pose.

Definition at line 305 of file CGeneralizedCylinder.cpp.

void CGeneralizedCylinder::getMeshIterators ( const std::vector< TQuadrilateral > &  m,
std::vector< TQuadrilateral >::const_iterator begin,
std::vector< TQuadrilateral >::const_iterator end 
) const
private

Given a vector of polyhedrons, gets the starting and ending iterators to the section to be actually rendered.

Definition at line 63 of file CGeneralizedCylinder.cpp.

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

Returns the name of the object.

Definition at line 64 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

unsigned int CRenderizable::getNewTextureNumber ( )
staticprotectedinherited

Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).

Returns the lowest, free texture name.

Definition at line 77 of file CRenderizable.cpp.

References TOpenGLNameBooker::instance(), MAX_GL_TEXTURE_IDS, MAX_GL_TEXTURE_IDS_MASK, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

Referenced by mrpt::opengl::CTexturedObject::loadTextureInOpenGL().

size_t mrpt::opengl::CGeneralizedCylinder::getNumberOfSections ( ) const
inline

Get the number of sections in this cylinder.

Definition at line 218 of file CGeneralizedCylinder.h.

void CGeneralizedCylinder::getOrigin ( CPolyhedronPtr &  poly) const

Get a polyhedron containing the starting point of the cylinder (its "base").

See also
getEnd,mrpt::opengl::CPolyhedron

Definition at line 169 of file CGeneralizedCylinder.cpp.

References generatePolygon().

mrpt::math::TPose3D CRenderizable::getPose ( ) const
inherited

Returns the 3D pose of the object as TPose3D.

Definition at line 321 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 93 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 96 of file CRenderizable.h.

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

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 81 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 94 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 97 of file CRenderizable.h.

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

Translation relative to parent coordinate origin.

Definition at line 89 of file CRenderizable.h.

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

Translation relative to parent coordinate origin.

Definition at line 90 of file CRenderizable.h.

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 92 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 95 of file CRenderizable.h.

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

Translation relative to parent coordinate origin.

Definition at line 91 of file CRenderizable.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::opengl::CGeneralizedCylinder::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

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

Get the current scaling factor in one axis.

Definition at line 121 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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

Get the current scaling factor in one axis.

Definition at line 122 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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

Get the current scaling factor in one axis.

Definition at line 123 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

size_t mrpt::opengl::CGeneralizedCylinder::getVisibleSections ( ) const
inline

Get how many visible sections are in the cylinder.

Definition at line 224 of file CGeneralizedCylinder.h.

void mrpt::opengl::CGeneralizedCylinder::getVisibleSections ( size_t &  first,
size_t &  last 
) const
inline

Gets the cylinder's visible sections.

Definition at line 230 of file CGeneralizedCylinder.h.

bool mrpt::opengl::CGeneralizedCylinder::isClosed ( ) const
inline

Returns true if each section is a closed polygon.

Definition at line 177 of file CGeneralizedCylinder.h.

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const
inlineinherited
See also
enableShowName

Definition at line 70 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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

Is the object visible?

See also
setVisibility

Definition at line 66 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

EIGEN_STRONG_INLINE void mrpt::opengl::CRenderizableDisplayList::notifyChange ( ) const
inlineprotectedinherited

Must be called to notify that the object has changed (so, the display list must be updated)

Definition at line 49 of file CRenderizableDisplayList.h.

Referenced by addVisibleSectionAtEnd(), addVisibleSectionAtStart(), mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::opengl::CMesh::adjustGridToImageAR(), mrpt::opengl::CVectorField2D::adjustVectorFieldToGrid(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CTexturedObject::assignImage(), mrpt::opengl::CMeshFast::assignImage(), mrpt::opengl::CMesh::assignImage(), mrpt::opengl::CTexturedObject::assignImage_fast(), mrpt::opengl::CMeshFast::assignImageAndZ(), mrpt::opengl::CMesh::assignImageAndZ(), mrpt::opengl::CSetOfLines::begin(), mrpt::opengl::CSetOfLines::clear(), mrpt::opengl::C3DSScene::clear(), mrpt::opengl::CVectorField2D::clear(), mrpt::opengl::CAssimpModel::clear(), mrpt::opengl::CVectorField3D::clear(), mrpt::opengl::CPlanarLaserScan::clear(), mrpt::opengl::COctoMapVoxels::clear(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::COpenGLStandardObject::disable(), mrpt::opengl::COpenGLStandardObject::enable(), mrpt::opengl::CSimpleLine::enableAntiAliasing(), mrpt::opengl::CGridPlaneXY::enableAntiAliasing(), mrpt::opengl::CGridPlaneXZ::enableAntiAliasing(), mrpt::opengl::CMesh3D::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), mrpt::opengl::CSetOfLines::enableAntiAliasing(), mrpt::opengl::CVectorField3D::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::CMeshFast::enableColorFromZ(), mrpt::opengl::COctoMapVoxels::enableCubeTransparency(), mrpt::opengl::CColorBar::enableDepthTest(), mrpt::opengl::CEllipsoid::enableDrawSolid3D(), mrpt::opengl::C3DSScene::enableExtraAmbientLight(), mrpt::opengl::CMesh3D::enableFaceNormals(), mrpt::opengl::COctoMapVoxels::enableLights(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CSphere::enableRadiusIndependentOfEyeDistance(), 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::CMesh3D::enableTransparency(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CMeshFast::enableTransparency(), mrpt::opengl::CSetOfTriangles::enableTransparency(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), mrpt::opengl::CMesh::enableWireFrame(), mrpt::opengl::CSetOfLines::end(), mrpt::opengl::C3DSScene::evaluateAnimation(), mrpt::opengl::COctoMapVoxels::getGridCubeRef(), mrpt::opengl::COctoMapVoxels::getVoxel(), mrpt::opengl::COctoMapVoxels::getVoxelRef(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::C3DSScene::loadFrom3DSFile(), mrpt::opengl::CMesh3D::loadMesh(), mrpt::opengl::CAssimpModel::loadScene(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::opengl::COpenGLStandardObject::readFromStream(), mrpt::opengl::CSimpleLine::readFromStream(), mrpt::opengl::CTexturedPlane::readFromStream(), mrpt::opengl::C3DSScene::readFromStream(), mrpt::opengl::CCylinder::readFromStream(), mrpt::opengl::CSetOfTriangles::readFromStream(), mrpt::opengl::CColorBar::readFromStream(), mrpt::opengl::CArrow::readFromStream(), mrpt::opengl::CAxis::readFromStream(), mrpt::opengl::CDisk::readFromStream(), mrpt::opengl::CSphere::readFromStream(), mrpt::opengl::CGridPlaneXY::readFromStream(), mrpt::opengl::CGridPlaneXZ::readFromStream(), mrpt::opengl::CSetOfLines::readFromStream(), mrpt::opengl::CBox::readFromStream(), mrpt::opengl::CVectorField2D::readFromStream(), mrpt::opengl::CMesh::readFromStream(), mrpt::opengl::CEllipsoidRangeBearing2D::readFromStream(), mrpt::opengl::CMeshFast::readFromStream(), mrpt::opengl::CAssimpModel::readFromStream(), mrpt::opengl::CEllipsoid::readFromStream(), mrpt::opengl::CText3D::readFromStream(), mrpt::opengl::CEllipsoidInverseDepth2D::readFromStream(), mrpt::opengl::CVectorField3D::readFromStream(), mrpt::opengl::CEllipsoidInverseDepth3D::readFromStream(), mrpt::opengl::CFrustum::readFromStream(), mrpt::opengl::COctoMapVoxels::readFromStream(), mrpt::opengl::CTexturedObject::readFromStreamTexturedObject(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::CSetOfLines::reserve(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), 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::CEllipsoid::set2DsegmentsCount(), mrpt::opengl::CEllipsoid::set3DsegmentsCount(), setAllSectionsInvisible(), setAllSectionsVisible(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CArrow::setArrowYawPitchRoll(), setAxis(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), mrpt::opengl::CBox::setBoxCorners(), setClosed(), 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::CEllipsoid::setCovMatrix(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::COpenGLStandardObject::setFlags(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), setGeneratrix(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CMesh::setGridLimits(), mrpt::opengl::CMeshFast::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::CSimpleLine::setLineWidth(), mrpt::opengl::CGridPlaneXY::setLineWidth(), mrpt::opengl::CGridPlaneXZ::setLineWidth(), mrpt::opengl::CAxis::setLineWidth(), mrpt::opengl::CSetOfLines::setLineWidth(), mrpt::opengl::CFrustum::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CEllipsoid::setLineWidth(), mrpt::opengl::CVectorField2D::setLineWidth(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setLineWidth(), mrpt::opengl::CVectorField3D::setLineWidth(), mrpt::opengl::CPolyhedron::setLineWidth(), mrpt::opengl::CDisk::setLoopsCount(), mrpt::opengl::CMesh::setMask(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::CFrustum::setNearFarPlanes(), mrpt::opengl::COpenGLStandardObject::setNormal(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CSphere::setNumberDivsLongitude(), 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::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CVectorField2D::setPointSize(), mrpt::opengl::CVectorField3D::setPointSize(), mrpt::opengl::CEllipsoid::setQuantiles(), 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::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CCylinder::setStacksCount(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CAxis::setTextScale(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CTexturedPlane::setTextureCornerCoords(), mrpt::opengl::CMesh::setUV(), 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(), setVisibleSections(), 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::CMesh::setZ(), mrpt::opengl::CMeshFast::setZ(), mrpt::opengl::COctoMapVoxels::showGridLines(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::showVoxelsAsPoints(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::thisclass_readFromStream(), mrpt::opengl::CMesh::updateColorsMatrix(), mrpt::opengl::CMeshFast::updateColorsMatrix(), mrpt::opengl::CMeshFast::updatePoints(), mrpt::opengl::CMesh::updatePolygons(), mrpt::opengl::CSetOfTriangles::updatePolygons(), and mrpt::opengl::CMesh::updateTriangles().

void mrpt::opengl::CGeneralizedCylinder::operator delete ( void ptr)
throw (
)
inline

Definition at line 29 of file CGeneralizedCylinder.h.

void mrpt::opengl::CGeneralizedCylinder::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 29 of file CGeneralizedCylinder.h.

void mrpt::opengl::CGeneralizedCylinder::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 29 of file CGeneralizedCylinder.h.

void mrpt::opengl::CGeneralizedCylinder::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 29 of file CGeneralizedCylinder.h.

void* mrpt::opengl::CGeneralizedCylinder::operator new ( size_t  size)
inline

Definition at line 29 of file CGeneralizedCylinder.h.

void* mrpt::opengl::CGeneralizedCylinder::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 29 of file CGeneralizedCylinder.h.

static void* mrpt::opengl::CGeneralizedCylinder::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 29 of file CGeneralizedCylinder.h.

void* mrpt::opengl::CGeneralizedCylinder::operator new[] ( size_t  size)
inline

Definition at line 29 of file CGeneralizedCylinder.h.

void CGeneralizedCylinder::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 138 of file CGeneralizedCylinder.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

void mrpt::opengl::CRenderizableDisplayList::readFromStreamRender ( mrpt::utils::CStream in)
inlineprotectedinherited
void CRenderizable::releaseTextureName ( unsigned int  i)
staticprotectedinherited
void CGeneralizedCylinder::removeVisibleSectionAtEnd ( )

Removes a visible section from the ending of the currently visible set.

Exceptions
std::logic_errorwhen there is no such section.
See also
addVisibleSectionAtStart,addVisibleSectionAtEnd,removeVisibleSectionAtStart

Definition at line 239 of file CGeneralizedCylinder.cpp.

void CGeneralizedCylinder::removeVisibleSectionAtStart ( )

Removes a visible section from the start of the currently visible set.

Exceptions
std::logic_errorif there are no visible sections.
See also
addVisibleSectionAtStart,addVisibleSectionAtEnd,removeVisibleSectionAtEnd

Definition at line 229 of file CGeneralizedCylinder.cpp.

void CRenderizableDisplayList::render ( ) const
virtualinherited
void CGeneralizedCylinder::render_dl ( ) const
virtual
void CRenderizable::renderTextBitmap ( const char *  str,
void fontStyle 
)
staticinherited

This method is safe for calling from within ::render() methods.

See also
renderTextBitmap, mrpt::opengl::gl_utils
renderTextBitmap

Definition at line 351 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::renderTextBitmap().

void CRenderizable::renderTextBitmap ( int  screen_x,
int  screen_y,
const std::string str,
float  color_r = 1,
float  color_g = 1,
float  color_b = 1,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
staticinherited

Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)

  • Coordinates (x,y) are 2D pixels, starting at bottom-left of the viewport. Negative numbers will wrap to the opposite side of the viewport (e.g. x=-10 means 10px fromt the right).
  • The text color is defined by (color_r,color_g,color_b), each float numbers in the range [0,1].
    See also
    renderTextBitmap, textBitmapWidth, mrpt::opengl::gl_utils

Definition at line 286 of file gl_utils.cpp.

References aux_mrptfont2glutfont(), GL_DEPTH_TEST, GL_MODELVIEW, GL_PROJECTION, GL_TRANSFORM_BIT, GL_VIEWPORT, GL_VIEWPORT_BIT, glColor3f(), glDisable(), glEnable(), glGetIntegerv(), glLoadIdentity(), glMatrixMode(), glPopAttrib(), glPopMatrix(), glPushAttrib(), glPushMatrix(), glRasterPos3f(), glViewport(), int(), and MRPT_UNUSED_PARAM.

void mrpt::opengl::CGeneralizedCylinder::setAllSectionsInvisible ( size_t  pointer = 0)
inline

Hides all sections.

Definition at line 249 of file CGeneralizedCylinder.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CGeneralizedCylinder::setAllSectionsVisible ( )
inline

Sets all sections visible.

Definition at line 242 of file CGeneralizedCylinder.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CGeneralizedCylinder::setAxis ( const std::vector< mrpt::math::TPoint3D > &  a)
inline

Set the axis points.

Definition at line 154 of file CGeneralizedCylinder.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CGeneralizedCylinder::setClosed ( bool  c = true)
inline

Set whether each section is a closed polygon or not.

Definition at line 183 of file CGeneralizedCylinder.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf c)
inlineinherited
Parameters
cChanges the default object color
Returns
a ref to this

Definition at line 127 of file CRenderizable.h.

References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, and mrpt::utils::TColorf::R.

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

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

Returns
a ref to this

Definition at line 133 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColor_u8 ( const mrpt::utils::TColor c)
inlinevirtualinherited

Changes the default object color.

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 86 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizable::setColor_u8().

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

Color components in the range [0,255].

Returns
a ref to this

Definition at line 87 of file CRenderizableDisplayList.h.

References DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE, OPENGL_IMPEXP, and mrpt::opengl::CRenderizable::setColor_u8().

CRenderizable& mrpt::opengl::CRenderizable::setColorA ( const double  a)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 112 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorA_u8 ( const uint8_t  a)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 85 of file CRenderizableDisplayList.h.

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

CRenderizable& mrpt::opengl::CRenderizable::setColorB ( const double  b)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 111 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorB_u8 ( const uint8_t  b)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 84 of file CRenderizableDisplayList.h.

CRenderizable& mrpt::opengl::CRenderizable::setColorG ( const double  g)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 110 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorG_u8 ( const uint8_t  g)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 83 of file CRenderizableDisplayList.h.

CRenderizable& mrpt::opengl::CRenderizable::setColorR ( const double  r)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 109 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorR_u8 ( const uint8_t  r)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 82 of file CRenderizableDisplayList.h.

void mrpt::opengl::CGeneralizedCylinder::setGeneratrix ( const std::vector< mrpt::math::TPoint3D > &  g)
inline

Set cylinder's profile.

Definition at line 169 of file CGeneralizedCylinder.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

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

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

Returns
a ref to this

Definition at line 84 of file CRenderizable.h.

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

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

Returns
a ref to this

Definition at line 87 of file CRenderizable.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

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

Changes the name of the object.

Definition at line 63 of file CRenderizable.h.

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose3D o)
inherited

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

Definition at line 285 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose2D o)
inherited

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

Definition at line 290 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose3D o)
inherited

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

Definition at line 295 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose2D o)
inherited

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

Definition at line 300 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint3D o)
inherited

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

Parameters
oSet the 3D pose from a mrpt::poses::CPose3D object

Definition at line 306 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint2D o)
inherited

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

Parameters
oSet the 3D pose from a mrpt::poses::CPose3D object

Definition at line 311 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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

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

Returns
a ref to this

Definition at line 119 of file CRenderizable.h.

Referenced by mrpt::opengl::CText3D::CText3D().

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

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

Returns
a ref to this

Definition at line 120 of file CRenderizable.h.

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

Set object visibility (default=true)

See also
isVisible

Definition at line 67 of file CRenderizable.h.

void mrpt::opengl::CGeneralizedCylinder::setVisibleSections ( size_t  first,
size_t  last 
)
inline

Sets which sections are visible.

Exceptions
std::logic_erroron wrongly defined bounds.

Definition at line 259 of file CGeneralizedCylinder.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

virtual bool mrpt::opengl::CRenderizableDisplayList::should_skip_display_list_cache ( ) const
inlineprotectedvirtualinherited

Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases.

Reimplemented in mrpt::opengl::CSphere.

Definition at line 56 of file CRenderizableDisplayList.h.

Referenced by mrpt::opengl::CRenderizableDisplayList::render().

int CRenderizable::textBitmapWidth ( const std::string str,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
staticinherited

Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().

See also
renderTextBitmap, mrpt::opengl::gl_utils
renderTextBitmap

Definition at line 359 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::textBitmapWidth().

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

Ray tracing.

See also
mrpt::opengl::CRenderizable.

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 108 of file CGeneralizedCylinder.cpp.

References mrpt::math::traceRay().

void CGeneralizedCylinder::updateMesh ( ) const
private

Updates the mutable mesh.

Definition at line 113 of file CGeneralizedCylinder.cpp.

References createMesh().

void CGeneralizedCylinder::updatePolys ( ) const

Updates the mutable set of polygons used in ray tracing.

Definition at line 250 of file CGeneralizedCylinder.cpp.

virtual mxArray* mrpt::utils::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 NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

References BASE_IMPEXP, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().

Referenced by mrpt::poses::operator<<(), mrpt::utils::TCamera::readFromStream(), mrpt::obs::CObservationImage::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), and mrpt::utils::CImage::readFromStream().

void CGeneralizedCylinder::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 130 of file CGeneralizedCylinder.cpp.

void CRenderizable::writeToStreamRender ( utils::CStream out) const
protectedinherited

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::opengl::CGeneralizedCylinder::_init_CGeneralizedCylinder
staticprotected

Definition at line 29 of file CGeneralizedCylinder.h.

mrpt::aligned_containers<mrpt::poses::CPose3D>::vector_t mrpt::opengl::CGeneralizedCylinder::axis
protected

Cylinder's axis.

It's represented as a pose because it holds the angle to get to the next pose.

Definition at line 87 of file CGeneralizedCylinder.h.

mrpt::utils::TRuntimeClassId mrpt::opengl::CGeneralizedCylinder::classCGeneralizedCylinder
static

Definition at line 29 of file CGeneralizedCylinder.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizable::classCRenderizable
staticinherited

Definition at line 46 of file CRenderizable.h.

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizableDisplayList::classCRenderizableDisplayList
staticinherited

Definition at line 38 of file CRenderizableDisplayList.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::opengl::CGeneralizedCylinder::classinfo
static

Definition at line 29 of file CGeneralizedCylinder.h.

bool mrpt::opengl::CGeneralizedCylinder::closed
protected

Boolean variable which determines if the profile is closed at each section.

Definition at line 104 of file CGeneralizedCylinder.h.

size_t mrpt::opengl::CGeneralizedCylinder::firstSection
protected

First visible section, if fullyVisible is set to false.

See also
fullyVisible,lastSection

Definition at line 111 of file CGeneralizedCylinder.h.

bool mrpt::opengl::CGeneralizedCylinder::fullyVisible
protected

Flag to determine whether the object is fully visible or only some sections are.

Definition at line 106 of file CGeneralizedCylinder.h.

std::vector<mrpt::math::TPoint3D> mrpt::opengl::CGeneralizedCylinder::generatrix
protected

Object's generatrix, that is, profile which will be extruded.

Definition at line 89 of file CGeneralizedCylinder.h.

size_t mrpt::opengl::CGeneralizedCylinder::lastSection
protected

Last visible section, if fullyVisible is set to false.

See also
fullyVisible,firstSection

Definition at line 116 of file CGeneralizedCylinder.h.

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color
protectedinherited
std::string mrpt::opengl::CRenderizable::m_name
protectedinherited
mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose
protectedinherited
float mrpt::opengl::CRenderizable::m_scale_x
protectedinherited
float mrpt::opengl::CRenderizable::m_scale_y
protectedinherited
float mrpt::opengl::CRenderizable::m_scale_z
protectedinherited

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

Definition at line 56 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().

bool mrpt::opengl::CRenderizable::m_show_name
protectedinherited
bool mrpt::opengl::CRenderizable::m_visible
protectedinherited

Is the object visible? (default=true)

Definition at line 57 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().

std::vector<TQuadrilateral> mrpt::opengl::CGeneralizedCylinder::mesh
mutableprotected

Mutable object with mesh information, used to avoid repeated computations.

Definition at line 91 of file CGeneralizedCylinder.h.

bool mrpt::opengl::CGeneralizedCylinder::meshUpToDate
mutableprotected

Mutable flag which tells if recalculations are needed.

Definition at line 95 of file CGeneralizedCylinder.h.

mrpt::math::CMatrixTemplate<mrpt::math::TPoint3D> mrpt::opengl::CGeneralizedCylinder::pointsMesh
mutableprotected

Mutable object with the cylinder's points, used to avoid repeated computations.

Definition at line 93 of file CGeneralizedCylinder.h.

std::vector<mrpt::math::TPolygonWithPlane> mrpt::opengl::CGeneralizedCylinder::polys
mutableprotected

Mutable set of data used in ray tracing.

See also
mrpt::math::TPolygonWithPlane

Definition at line 100 of file CGeneralizedCylinder.h.

bool mrpt::opengl::CGeneralizedCylinder::polysUpToDate
mutableprotected

Mutable flag telling whether ray tracing temporary data must be recalculated or not.

Definition at line 102 of file CGeneralizedCylinder.h.




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