CSetOfObjects.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/opengl/CRenderizable.h>
#include <mrpt/poses/poses_frwds.h>  // All these are needed for the auxiliary methods posePDF2opengl()

namespace mrpt::opengl
{
/** A set of object, which are referenced to the coordinates framework
 *established in this object.
 *  It can be established a hierarchy of "CSetOfObjects", where the coordinates
 *framework of each
 *   one will be referenced to the parent's one.
 *  The list of child objects is accessed directly as in the class
 *"COpenGLScene"
 *  \sa opengl::COpenGLScene
 * \ingroup mrpt_opengl_grp
 */
class CSetOfObjects : public CRenderizable
{
    DEFINE_SERIALIZABLE(CSetOfObjects)

   protected:
    /** The list of child objects.
     *  Objects are automatically deleted when calling "clear" or in the
     * destructor.
     */
    CListOpenGLObjects m_objects;

   public:
    using const_iterator = CListOpenGLObjects::const_iterator;
    using iterator = CListOpenGLObjects::iterator;

    inline const_iterator begin() const { return m_objects.begin(); }
    inline const_iterator end() const { return m_objects.end(); }
    inline iterator begin() { return m_objects.begin(); }
    inline iterator end() { return m_objects.end(); }
    /** Inserts a set of objects into the list.
     */
    template <class T>
    inline void insertCollection(const T& objs)
    {
        insert(objs.begin(), objs.end());
    }
    /** Insert a new object to the list.
     */
    void insert(const CRenderizable::Ptr& newObject);

    /** Inserts a set of objects, bounded by iterators, into the list.
     */
    template <class T_it>
    inline void insert(const T_it& begin, const T_it& end)
    {
        for (T_it it = begin; it != end; it++) insert(*it);
    }

    /** Render child objects.
     */
    void render() const override;

    /** Clear the list of objects in the scene, deleting objects' memory.
     */
    void clear();

    /** Returns number of objects.  */
    size_t size() { return m_objects.size(); }
    /** Returns true if there are no objects.  */
    inline bool empty() const { return m_objects.empty(); }
    /** Initializes all textures in the scene (See
     * opengl::CTexturedPlane::loadTextureInOpenGL)
     */
    void initializeAllTextures();

    /** Returns the first object with a given name, or a nullptr pointer if not
     * found.
     */
    CRenderizable::Ptr getByName(const std::string& str);

    /** Returns the i'th object of a given class (or of a descendant class), or
      nullptr (an empty smart pointer) if not found.
      *  Example:
      * \code
           CSphere::Ptr obs = myscene.getByClass<CSphere>();
      * \endcode
      * By default (ith=0), the first observation is returned.
      */
    template <typename T>
    typename T::Ptr getByClass(const size_t& ith = 0) const;

    /** Removes the given object from the scene (it also deletes the object to
     * free its memory).
     */
    void removeObject(const CRenderizable::Ptr& obj);

    /** Retrieves a list of all objects in text form  */
    void dumpListOfObjects(std::vector<std::string>& lst);

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

    CRenderizable& setColor_u8(const mrpt::img::TColor& c) override;
    CRenderizable& setColorR_u8(const uint8_t r) override;
    CRenderizable& setColorG_u8(const uint8_t g) override;
    CRenderizable& setColorB_u8(const uint8_t b) override;
    CRenderizable& setColorA_u8(const uint8_t a) override;
    bool contains(const CRenderizable::Ptr& obj) const;
    void getBoundingBox(
        mrpt::math::TPoint3D& bb_min,
        mrpt::math::TPoint3D& bb_max) const override;

    /** @name pose_pdf -> 3d objects auxiliary templates
        @{ */
    // The reason this code is here is to exploit C++'s "T::template function()"
    // in order to
    //  define the members getAs3DObject() in several classes in mrpt-base with
    //  its argument
    //  being a class (CSetOfObjects) which is actually declared here, in
    //  mrpt-opengl.
    //  Implementations are in "pose_pdfs.cpp", not in "CSetOfObjects" (historic
    //  reasons...)

    /** Returns a representation of a the PDF - this is just an auxiliary
     * function, it's more natural to call
     *    mrpt::poses::CPosePDF::getAs3DObject     */
    static CSetOfObjects::Ptr posePDF2opengl(const mrpt::poses::CPosePDF& o);

    /** Returns a representation of a the PDF - this is just an auxiliary
     * function, it's more natural to call
     *    mrpt::poses::CPointPDF::getAs3DObject     */
    static CSetOfObjects::Ptr posePDF2opengl(const mrpt::poses::CPointPDF& o);

    /** Returns a representation of a the PDF - this is just an auxiliary
     * function, it's more natural to call
     *    mrpt::poses::CPose3DPDF::getAs3DObject     */
    static CSetOfObjects::Ptr posePDF2opengl(const mrpt::poses::CPose3DPDF& o);

    /** Returns a representation of a the PDF - this is just an auxiliary
     * function, it's more natural to call
     *    mrpt::poses::CPose3DQuatPDF::getAs3DObject     */
    static CSetOfObjects::Ptr posePDF2opengl(
        const mrpt::poses::CPose3DQuatPDF& o);

    /** @} */

    /** Default constructor
     */
    CSetOfObjects();

    /** Private, virtual destructor: only can be deleted from smart pointers */
    ~CSetOfObjects() override;
};
/** Inserts an object into the list. Allows call chaining.
 * \sa mrpt::opengl::CSetOfObjects::insert
 */
inline CSetOfObjects::Ptr& operator<<(
    CSetOfObjects::Ptr& s, const CRenderizable::Ptr& r)
{
    s->insert(r);
    return s;
}
/** Inserts a set of objects into the list. Allows call chaining.
 * \sa mrpt::opengl::CSetOfObjects::insert
 */
template <class T>
inline CSetOfObjects::Ptr& operator<<(
    CSetOfObjects::Ptr& o, const std::vector<T>& v)
{
    o->insertCollection(v);
    return o;
}

// Implementation: (here because it needs the _POST macro defining the
// Smart::Ptr)
template <typename T>
typename T::Ptr CSetOfObjects::getByClass(const size_t& ith) const
{
    MRPT_START
    size_t foundCount = 0;
    const auto class_ID = &T::GetRuntimeClassIdStatic();
    for (const auto& o : m_objects)
        if (o && o->GetRuntimeClass()->derivedFrom(class_ID))
            if (foundCount++ == ith) return std::dynamic_pointer_cast<T>(o);

    // If not found directly, search recursively:
    for (const auto& o : m_objects)
    {
        if (o && o->GetRuntimeClass() ==
                     CLASS_ID_NAMESPACE(CSetOfObjects, mrpt::opengl))
        {
            typename T::Ptr obj = std::dynamic_pointer_cast<CSetOfObjects>(o)
                                      ->template getByClass<T>(ith);
            if (obj) return obj;
        }
    }

    return typename T::Ptr();  // Not found: return empty smart pointer
    MRPT_END
}
}  // namespace mrpt::opengl