Detailed Description

A 2D vector field representation, consisting of points and arrows drawn on a plane (invisible grid).

See also: opengl::COpenGLScene

mrpt::opengl::CVectorField2D

Definition at line 32 of file CVectorField2D.h.

#include <mrpt/opengl/CVectorField2D.h>

Inheritance diagram for mrpt::opengl::CVectorField2D:

Public Member Functions
void	clear ()
	Clear the matrices. More...

void	setPointColor (const float R, const float G, const float B, const float A=1)
	Set the point color in the range [0,1]. More...

mrpt::img::TColorf	getPointColor () const
	Get the point color in the range [0,1]. More...

void	setVectorFieldColor (const float R, const float G, const float B, const float A=1)
	Set the arrow color in the range [0,1]. More...

mrpt::img::TColorf	getVectorFieldColor () const
	Get the arrow color in the range [0,1]. More...

void	setPointSize (const float p)
	Set the size with which points will be drawn. More...

float	getPointSize () const
	Get the size with which points are drawn. More...

void	setLineWidth (const float w)
	Set the width with which lines will be drawn. More...

float	getLineWidth () const
	Get the width with which lines are drawn. More...

void	setGridCenterAndCellSize (const float center_x, const float center_y, const float cellsize_x, const float cellsize_y)
	Set the coordinates of the grid on where the vector field will be drawn by setting its center and the cell size. More...

void	setGridLimits (const float xmin, const float xmax, const float ymin, const float ymax)
	Set the coordinates of the grid on where the vector field will be drawn using x-y max and min values. More...

void	getGridLimits (float &xmin, float &xmax, float &ymin, float &ymax) const
	Get the coordinates of the grid on where the vector field is drawn using the max and min values. More...

void	getVectorField (mrpt::math::CMatrixFloat &Matrix_x, mrpt::math::CMatrixFloat &Matrix_y) const
	Get the vector field. More...

const mrpt::math::CMatrixFloat &	getVectorField_x () const
	Get the "x" component of the vector field, as a matrix where each entry represents a point in the 2D grid. More...

mrpt::math::CMatrixFloat &	getVectorField_x ()

const mrpt::math::CMatrixFloat &	getVectorField_y () const
	Get the "y" component of the vector field, as a matrix where each entry represents a point in the 2D grid. More...

mrpt::math::CMatrixFloat &	getVectorField_y ()

void	setVectorField (mrpt::math::CMatrixFloat &Matrix_x, mrpt::math::CMatrixFloat &Matrix_y)
	Set the vector field. More...

void	adjustVectorFieldToGrid ()
	Adjust the vector field in the scene (vectors magnitude) according to the grid size. More...

void	resize (size_t rows, size_t cols)
	Resizes the set. More...

size_t	cols () const
	Returns the total count of rows used to represent the vector field. More...

size_t	rows () const
	Returns the total count of columns used to represent the vector field. More...

void	render_dl () const override
	Render. More...

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 the object parent. More...

void	enableAntiAliasing (bool enable=true)

bool	isAntiAliasingEnabled () const

	CVectorField2D ()
	Constructor. More...

	CVectorField2D (mrpt::math::CMatrixFloat Matrix_x, mrpt::math::CMatrixFloat Matrix_y, float xmin=-1, float xmax=1, float ymin=-1, float ymax=1)
	Constructor with a initial set of lines. More...

	~CVectorField2D () override=default
	Private, virtual destructor: only can be deleted from smart pointers. More...

void	render () const override
	Render the object, regenerating the display list if needed, otherwise just calling it. More...

virtual bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const
	Simulation of ray-trace, given a pose. More...

virtual mxArray *	writeToMatlab () 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...

Changes the appearance of the object to render (methods from
CRenderizable that need to be redefined)
CRenderizable &	setColorR_u8 (const uint8_t r) override
	Color components in the range [0,255]. More...

CRenderizable &	setColorG_u8 (const uint8_t g) override
	Color components in the range [0,255]. More...

CRenderizable &	setColorB_u8 (const uint8_t b) override
	Color components in the range [0,255]. More...

CRenderizable &	setColorA_u8 (const uint8_t a) override
	Color components in the range [0,255]. More...

CRenderizable &	setColor_u8 (const mrpt::img::TColor &c) override
	Changes the default object color. More...

CRenderizable &	setColor_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::string &	getName () 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

CRenderizable &	setPose (const mrpt::poses::CPose3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::poses::CPose2D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::math::TPose3D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::math::TPose2D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::poses::CPoint3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

CRenderizable &	setPose (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::CPose3D &	getPoseRef () const
	Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More...

CRenderizable &	setLocation (double x, double y, double z)
	Changes the location of the object, keeping untouched the orientation. More...

CRenderizable &	setLocation (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...

CRenderizable &	setColorR (const double r)
	Color components in the range [0,1]. More...

CRenderizable &	setColorG (const double g)
	Color components in the range [0,1]. More...

CRenderizable &	setColorB (const double b)
	Color components in the range [0,1]. More...

CRenderizable &	setColorA (const double a)
	Color components in the range [0,1]. More...

CRenderizable &	setScale (float s)
	Scale to apply to the object, in all three axes (default=1) More...

CRenderizable &	setScale (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::img::TColorf	getColor () const
	Returns the object color property as a TColorf. More...

CRenderizable &	setColor (const mrpt::img::TColorf &c)
	Changes the default object color. More...

CRenderizable &	setColor (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::img::TColor &	getColor_u8 () const
	Returns the object color property as a TColor. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Static Public Member Functions
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...

Protected Member Functions
void	writeToStreamRender (mrpt::serialization::CArchive &out) const

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

Methods accesible or implemented by derived classes
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::serialization::CArchive &in)

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

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::math::CMatrixF	xcomp
	X component of the vector field. More...

mrpt::math::CMatrixF	ycomp
	Y component of the vector field. More...

float	xMin {-1.0}
	Grid bounds. More...

float	xMax {1.0}

float	yMin {-1.0}

float	yMax {1.0}

float	m_LineWidth {1.0}
	By default is 1.0. More...

float	m_pointSize {1.0}
	By default is 1.0. More...

bool	m_antiAliasing {true}
	By default is true. More...

mrpt::img::TColor	m_point_color

mrpt::img::TColor	m_field_color

std::string	m_name

bool	m_show_name {false}

mrpt::img::TColor	m_color
	Color components in the range [0,255]. More...

mrpt::poses::CPose3D	m_pose
	6D pose wrt the parent coordinate reference. More...

float	m_scale_x {1}
	Scale components to apply to the object (default=1) More...

float	m_scale_y {1}

float	m_scale_z {1}

bool	m_visible {true}
	Is the object visible? (default=true) More...

RTTI stuff
using	Ptr = std::shared_ptr< CVectorField2D >

using	ConstPtr = std::shared_ptr< const CVectorField2D >

using	UniquePtr = std::unique_ptr< CVectorField2D >

using	ConstUniquePtr = std::unique_ptr< const CVectorField2D >

static mrpt::rtti::CLASSINIT	_init_CVectorField2D

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CVectorField2D"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::opengl::CVectorField2D::ConstPtr = std::shared_ptr<const CVectorField2D >

Definition at line 34 of file CVectorField2D.h.

◆ ConstUniquePtr

using mrpt::opengl::CVectorField2D::ConstUniquePtr = std::unique_ptr<const CVectorField2D >

Definition at line 34 of file CVectorField2D.h.

◆ Ptr

using mrpt::opengl::CVectorField2D::Ptr = std::shared_ptr< CVectorField2D >

A type for the associated smart pointer

Definition at line 34 of file CVectorField2D.h.

◆ UniquePtr

using mrpt::opengl::CVectorField2D::UniquePtr = std::unique_ptr< CVectorField2D >

Definition at line 34 of file CVectorField2D.h.

Constructor & Destructor Documentation

◆ CVectorField2D() [1/2]

CVectorField2D::CVectorField2D ( )

Constructor.

Definition at line 26 of file CVectorField2D.cpp.

◆ CVectorField2D() [2/2]

CVectorField2D::CVectorField2D	(	mrpt::math::CMatrixFloat	Matrix_x,
		mrpt::math::CMatrixFloat	Matrix_y,
		float	xmin = `-1`,
		float	xmax = `1`,
		float	ymin = `-1`,
		float	ymax = `1`
	)

Constructor with a initial set of lines.

Definition at line 34 of file CVectorField2D.cpp.

References mrpt::opengl::CRenderizable::m_color, m_field_color, m_point_color, and MRPT_UNUSED_PARAM.

◆ ~CVectorField2D()

mrpt::opengl::CVectorField2D::~CVectorField2D ( )

overridedefault

Private, virtual destructor: only can be deleted from smart pointers.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::opengl::CVectorField2D::_GetBaseClass ( )

staticprotected

◆ adjustVectorFieldToGrid()

void CVectorField2D::adjustVectorFieldToGrid ( )

Adjust the vector field in the scene (vectors magnitude) according to the grid size.

Definition at line 237 of file CVectorField2D.cpp.

References ASSERT_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::math::MatrixVectorBase< Scalar, Derived >::maxCoeff(), mrpt::math::MatrixVectorBase< Scalar, Derived >::minCoeff(), mrpt::opengl::CRenderizableDisplayList::notifyChange(), mrpt::math::CMatrixDynamic< T >::rows(), mrpt::math::CMatrixDynamic< T >::size(), xcomp, xMax, xMin, ycomp, yMax, and yMin.

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◆ checkOpenGLError()

void CRenderizable::checkOpenGLError ( )

staticprotectedinherited

Checks glGetError and throws an exception if an error situation is found.

Definition at line 295 of file CRenderizable.cpp.

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

Referenced by mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), render_dl(), mrpt::opengl::CVectorField3D::render_dl(), and mrpt::opengl::CPolyhedron::render_dl().

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◆ clear()

void mrpt::opengl::CVectorField2D::clear ( )

inline

Clear the matrices.

Definition at line 57 of file CVectorField2D.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), mrpt::math::CMatrixDynamic< T >::resize(), xcomp, and ycomp.

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::opengl::CVectorField2D::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ cols()

size_t mrpt::opengl::CVectorField2D::cols ( ) const

inline

Returns the total count of rows used to represent the vector field.

Definition at line 228 of file CVectorField2D.h.

References mrpt::math::CMatrixDynamic< T >::cols(), and xcomp.

Referenced by resize().

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◆ Create()

template<typename... Args>

static Ptr mrpt::opengl::CVectorField2D::Create ( Args &&... args )

inlinestatic

Definition at line 34 of file CVectorField2D.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::opengl::CVectorField2D::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 34 of file CVectorField2D.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::opengl::CVectorField2D::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::opengl::CVectorField2D::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 34 of file CVectorField2D.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 200 of file CObject.h.

References mrpt::rtti::CObject::clone().

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

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◆ enableAntiAliasing()

void mrpt::opengl::CVectorField2D::enableAntiAliasing ( bool enable = true )

inline

Definition at line 242 of file CVectorField2D.h.

References m_antiAliasing, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ enableShowName()

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 82 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_show_name.

◆ getBoundingBox()

void CVectorField2D::getBoundingBox	(	mrpt::math::TPoint3D &	bb_min,
		mrpt::math::TPoint3D &	bb_max
	)		const

overridevirtual

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 185 of file CVectorField2D.cpp.

References bb_max, bb_min, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::poses::CPose3D::composePoint(), mrpt::opengl::CRenderizable::m_pose, mrpt::math::CMatrixDynamic< T >::rows(), xcomp, xMax, xMin, ycomp, yMax, and yMin.

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◆ getClassName()

static constexpr auto mrpt::opengl::CVectorField2D::getClassName ( )

inlinestatic

Definition at line 34 of file CVectorField2D.h.

◆ getColor()

mrpt::img::TColorf mrpt::opengl::CRenderizable::getColor ( ) const

inlineinherited

Returns the object color property as a TColorf.

Definition at line 231 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels(), and mrpt::maps::COccupancyGridMap3D::getAsOctoMapVoxels().

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◆ getColor_u8()

const mrpt::img::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const

inlineinherited

Returns the object color property as a TColor.

Definition at line 250 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color.

◆ getColorA()

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

inlineinherited

Color components in the range [0,1].

Definition at line 154 of file CRenderizable.h.

References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.

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

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◆ getColorA_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 162 of file CRenderizable.h.

References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.

◆ getColorB()

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

inlineinherited

Color components in the range [0,1].

Definition at line 152 of file CRenderizable.h.

References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.

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

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◆ getColorB_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 160 of file CRenderizable.h.

References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.

◆ getColorG()

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

inlineinherited

Color components in the range [0,1].

Definition at line 150 of file CRenderizable.h.

References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.

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

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◆ getColorG_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 158 of file CRenderizable.h.

References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.

◆ getColorR()

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

inlineinherited

Color components in the range [0,1].

Definition at line 148 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.

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

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◆ getColorR_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 156 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.

◆ getGridLimits()

void mrpt::opengl::CVectorField2D::getGridLimits	(	float &	xmin,
		float &	xmax,
		float &	ymin,
		float &	ymax
	)		const

inline

Get the coordinates of the grid on where the vector field is drawn using the max and min values.

Definition at line 161 of file CVectorField2D.h.

References xMax, xMin, yMax, and yMin.

◆ getLineWidth()

float mrpt::opengl::CVectorField2D::getLineWidth ( ) const

inline

Get the width with which lines are drawn.

Definition at line 125 of file CVectorField2D.h.

References m_LineWidth.

◆ getName()

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

inlineinherited

Returns the name of the object.

Definition at line 67 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_name.

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

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◆ getNewTextureNumber()

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 65 of file CRenderizable.cpp.

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

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◆ getPointColor()

mrpt::img::TColorf mrpt::opengl::CVectorField2D::getPointColor ( ) const

inline

Get the point color in the range [0,1].

Definition at line 77 of file CVectorField2D.h.

References m_point_color.

◆ getPointSize()

float mrpt::opengl::CVectorField2D::getPointSize ( ) const

inline

Get the size with which points are drawn.

By default 1.0

Definition at line 112 of file CVectorField2D.h.

References m_pointSize.

◆ getPose()

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

inherited

Returns the 3D pose of the object as TPose3D.

Definition at line 337 of file CRenderizable.cpp.

References mrpt::poses::CPose3D::asTPose(), and mrpt::opengl::CRenderizable::m_pose.

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◆ getPosePitch()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 138 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::pitch(), and mrpt::RAD2DEG().

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◆ getPosePitchRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 144 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::pitch().

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◆ getPoseRef()

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 108 of file CRenderizable.h.

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

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

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◆ getPoseRoll()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 140 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::RAD2DEG(), and mrpt::poses::CPose3D::roll().

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◆ getPoseRollRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 146 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::roll().

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◆ getPoseX()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 130 of file CRenderizable.h.

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

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◆ getPoseY()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 132 of file CRenderizable.h.

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

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◆ getPoseYaw()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 136 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::RAD2DEG(), and mrpt::poses::CPose3D::yaw().

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◆ getPoseYawRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 142 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::yaw().

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◆ getPoseZ()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 134 of file CRenderizable.h.

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

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::opengl::CVectorField2D::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::opengl::CVectorField2D::GetRuntimeClassIdStatic ( )

static

◆ getScaleX()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 225 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_x.

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

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◆ getScaleY()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 227 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_y.

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

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◆ getScaleZ()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 229 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_z.

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

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◆ getVectorField()

void mrpt::opengl::CVectorField2D::getVectorField	(	mrpt::math::CMatrixFloat &	Matrix_x,
		mrpt::math::CMatrixFloat &	Matrix_y
	)		const

inline

Get the vector field.

Matrix_x stores the "x" component and Matrix_y stores the "y" component.

Definition at line 173 of file CVectorField2D.h.

References xcomp, and ycomp.

◆ getVectorField_x() [1/2]

const mrpt::math::CMatrixFloat& mrpt::opengl::CVectorField2D::getVectorField_x ( ) const

inline

Get the "x" component of the vector field, as a matrix where each entry represents a point in the 2D grid.

Definition at line 183 of file CVectorField2D.h.

References xcomp.

◆ getVectorField_x() [2/2]

mrpt::math::CMatrixFloat& mrpt::opengl::CVectorField2D::getVectorField_x ( )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 188 of file CVectorField2D.h.

References xcomp.

◆ getVectorField_y() [1/2]

const mrpt::math::CMatrixFloat& mrpt::opengl::CVectorField2D::getVectorField_y ( ) const

inline

Get the "y" component of the vector field, as a matrix where each entry represents a point in the 2D grid.

Definition at line 191 of file CVectorField2D.h.

References ycomp.

◆ getVectorField_y() [2/2]

mrpt::math::CMatrixFloat& mrpt::opengl::CVectorField2D::getVectorField_y ( )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 196 of file CVectorField2D.h.

References ycomp.

◆ getVectorFieldColor()

mrpt::img::TColorf mrpt::opengl::CVectorField2D::getVectorFieldColor ( ) const

inline

Get the arrow color in the range [0,1].

Definition at line 95 of file CVectorField2D.h.

References m_field_color.

◆ isAntiAliasingEnabled()

bool mrpt::opengl::CVectorField2D::isAntiAliasingEnabled ( ) const

inline

Definition at line 247 of file CVectorField2D.h.

References m_antiAliasing.

◆ isShowNameEnabled()

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const

inlineinherited

See also: enableShowName

Definition at line 84 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_show_name.

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

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◆ isVisible()

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

inlineinherited

Is the object visible?

See also: setVisibility

Definition at line 68 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_visible.

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

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◆ notifyChange()

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 54 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizableDisplayList::m_dl_recreate.

◆ readFromStreamRender()

void mrpt::opengl::CRenderizableDisplayList::readFromStreamRender ( mrpt::serialization::CArchive & in )

inlineprotectedinherited

Definition at line 62 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CRenderizable::readFromStreamRender().

Referenced by mrpt::opengl::CSetOfLines::serializeFrom(), serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CBox::serializeFrom(), mrpt::opengl::CPolyhedron::serializeFrom(), mrpt::opengl::CFrustum::serializeFrom(), and mrpt::opengl::CPlanarLaserScan::serializeFrom().

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◆ releaseTextureName()

void CRenderizable::releaseTextureName ( unsigned int i )

staticprotectedinherited

Definition at line 93 of file CRenderizable.cpp.

References TOpenGLNameBooker::cs, TOpenGLNameBooker::freeTextureNames, TOpenGLNameBooker::instance(), and TOpenGLNameBooker::next_free_texture.

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◆ render()

void CRenderizableDisplayList::render ( ) const

overridevirtualinherited

Render the object, regenerating the display list if needed, otherwise just calling it.

Implements mrpt::opengl::CRenderizable.

Definition at line 80 of file CRenderizableDisplayList.cpp.

References TAuxDLData::getSingleton(), GL_COMPILE, GL_NO_ERROR, glCallList(), glDeleteLists(), glEndList(), glGenLists(), glGetError(), glNewList(), INVALID_DISPLAY_LIST_ID, mrpt::opengl::CRenderizableDisplayList::m_dl, mrpt::opengl::CRenderizableDisplayList::m_dl_recreate, mrpt::opengl::CRenderizableDisplayList::render_dl(), and mrpt::opengl::CRenderizableDisplayList::should_skip_display_list_cache().

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◆ render_dl()

void CVectorField2D::render_dl ( ) const

overridevirtual

Render.

Implements mrpt::opengl::CRenderizableDisplayList.

Definition at line 52 of file CVectorField2D.cpp.

References mrpt::img::TColor::A, mrpt::img::TColor::B, mrpt::opengl::CRenderizable::checkOpenGLError(), mrpt::math::CMatrixDynamic< T >::cols(), mrpt::img::TColor::G, GL_BLEND, GL_COLOR_BUFFER_BIT, GL_LIGHTING, GL_LINE_BIT, GL_LINE_SMOOTH, GL_LINES, GL_ONE_MINUS_SRC_ALPHA, GL_POINT_SMOOTH, GL_POINTS, GL_SRC_ALPHA, GL_TRIANGLES, glBegin(), glBlendFunc(), glColor4ub(), glDisable(), glEnable(), glEnd(), glLineWidth(), glPointSize(), glPopAttrib(), glPushAttrib(), glVertex3f(), m_antiAliasing, mrpt::opengl::CRenderizable::m_color, m_field_color, m_LineWidth, m_point_color, m_pointSize, mrpt::img::TColor::R, mrpt::math::CMatrixDynamic< T >::rows(), xcomp, xMax, xMin, ycomp, yMax, and yMin.

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◆ renderTextBitmap() [1/2]

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 361 of file CRenderizable.cpp.

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

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◆ renderTextBitmap() [2/2]

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 332 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(), and MRPT_UNUSED_PARAM.

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◆ resize()

void mrpt::opengl::CVectorField2D::resize	(	size_t	rows,
		size_t	cols
	)

inline

Resizes the set.

Definition at line 220 of file CVectorField2D.h.

References cols(), mrpt::opengl::CRenderizableDisplayList::notifyChange(), mrpt::math::CMatrixDynamic< T >::resize(), rows(), xcomp, and ycomp.

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◆ rows()

size_t mrpt::opengl::CVectorField2D::rows ( ) const

inline

Returns the total count of columns used to represent the vector field.

Definition at line 231 of file CVectorField2D.h.

References mrpt::math::CMatrixDynamic< T >::rows(), and xcomp.

Referenced by resize().

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◆ serializeFrom() [1/2]

void CVectorField2D::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The 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::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 161 of file CVectorField2D.cpp.

References m_antiAliasing, m_field_color, m_LineWidth, m_point_color, m_pointSize, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::opengl::CRenderizableDisplayList::notifyChange(), mrpt::opengl::CRenderizableDisplayList::readFromStreamRender(), xcomp, xMax, xMin, ycomp, yMax, and yMin.

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CVectorField2D::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 147 of file CVectorField2D.cpp.

◆ serializeTo() [1/2]

void CVectorField2D::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 148 of file CVectorField2D.cpp.

References m_antiAliasing, m_field_color, m_LineWidth, m_point_color, m_pointSize, mrpt::opengl::CRenderizable::writeToStreamRender(), xcomp, xMax, xMin, ycomp, yMax, and yMin.

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◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setColor() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::img::TColorf & c )

inlineinherited

Changes the default object color.

Returns: a ref to this

Definition at line 236 of file CRenderizable.h.

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

Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview().

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◆ setColor() [2/2]

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 244 of file CRenderizable.h.

References G, R, and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor_u8() [1/2]

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

inlineoverridevirtualinherited

Changes the default object color.

Returns: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 110 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor_u8() [2/2]

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 117 of file CRenderizableDisplayList.h.

References G, mrpt::opengl::CRenderizableDisplayList::notifyChange(), R, and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColorA()

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

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 179 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorA_u8().

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◆ setColorA_u8()

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

inlineoverridevirtualinherited

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 103 of file CRenderizableDisplayList.h.

References mrpt::img::TColor::A, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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

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◆ setColorB()

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

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 174 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorB_u8().

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◆ setColorB_u8()

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

inlineoverridevirtualinherited

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 96 of file CRenderizableDisplayList.h.

References mrpt::img::TColor::B, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ setColorG()

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

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 169 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorG_u8().

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◆ setColorG_u8()

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

inlineoverridevirtualinherited

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 89 of file CRenderizableDisplayList.h.

References mrpt::img::TColor::G, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ setColorR()

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

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 164 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorR_u8().

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◆ setColorR_u8()

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

inlineoverridevirtualinherited

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.

References mrpt::opengl::CRenderizable::m_color, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::img::TColor::R.

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◆ setGridCenterAndCellSize()

void mrpt::opengl::CVectorField2D::setGridCenterAndCellSize	(	const float	center_x,
		const float	center_y,
		const float	cellsize_x,
		const float	cellsize_y
	)

inline

Set the coordinates of the grid on where the vector field will be drawn by setting its center and the cell size.

The number of cells is marked by the content of xcomp and ycomp.

See also: xcomp, ycomp

Definition at line 132 of file CVectorField2D.h.

References mrpt::math::CMatrixDynamic< T >::cols(), mrpt::opengl::CRenderizableDisplayList::notifyChange(), mrpt::math::CMatrixDynamic< T >::rows(), xcomp, xMax, xMin, yMax, and yMin.

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◆ setGridLimits()

void mrpt::opengl::CVectorField2D::setGridLimits	(	const float	xmin,
		const float	xmax,
		const float	ymin,
		const float	ymax
	)

inline

Set the coordinates of the grid on where the vector field will be drawn using x-y max and min values.

Definition at line 147 of file CVectorField2D.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), xMax, xMin, yMax, and yMin.

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◆ setLineWidth()

void mrpt::opengl::CVectorField2D::setLineWidth ( const float w )

inline

Set the width with which lines will be drawn.

Definition at line 116 of file CVectorField2D.h.

References m_LineWidth, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ setLocation() [1/2]

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 111 of file CRenderizable.h.

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

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◆ setLocation() [2/2]

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 121 of file CRenderizable.h.

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

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◆ setName()

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

inlineinherited

Changes the name of the object.

Definition at line 65 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_name.

◆ setPointColor()

void mrpt::opengl::CVectorField2D::setPointColor	(	const float	R,
		const float	G,
		const float	B,
		const float	A = `1`
	)

inline

Set the point color in the range [0,1].

Definition at line 67 of file CVectorField2D.h.

References G, m_point_color, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and R.

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◆ setPointSize()

void mrpt::opengl::CVectorField2D::setPointSize ( const float p )

inline

Set the size with which points will be drawn.

By default 1.0

Definition at line 103 of file CVectorField2D.h.

References m_pointSize, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ setPose() [1/6]

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 303 of file CRenderizable.cpp.

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

Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview().

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◆ setPose() [2/6]

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 308 of file CRenderizable.cpp.

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

◆ setPose() [3/6]

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 313 of file CRenderizable.cpp.

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

◆ setPose() [4/6]

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 318 of file CRenderizable.cpp.

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

◆ setPose() [5/6]

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

inherited

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

Set the 3D pose from a mrpt::poses::CPose3D object.

Definition at line 325 of file CRenderizable.cpp.

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

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◆ setPose() [6/6]

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

inherited

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

Set the 3D pose from a mrpt::poses::CPose3D object.

Definition at line 331 of file CRenderizable.cpp.

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

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◆ setScale() [1/2]

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 210 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, and mrpt::opengl::CRenderizable::m_scale_z.

◆ setScale() [2/2]

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 217 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, and mrpt::opengl::CRenderizable::m_scale_z.

◆ setVectorField()

void mrpt::opengl::CVectorField2D::setVectorField	(	mrpt::math::CMatrixFloat &	Matrix_x,
		mrpt::math::CMatrixFloat &	Matrix_y
	)

inline

Set the vector field.

Matrix_x contains the "x" component and Matrix_y contains the "y" component.

Definition at line 201 of file CVectorField2D.h.

References ASSERT_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::opengl::CRenderizableDisplayList::notifyChange(), mrpt::math::CMatrixDynamic< T >::rows(), xcomp, and ycomp.

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◆ setVectorFieldColor()

void mrpt::opengl::CVectorField2D::setVectorFieldColor	(	const float	R,
		const float	G,
		const float	B,
		const float	A = `1`
	)

inline

Set the arrow color in the range [0,1].

Definition at line 85 of file CVectorField2D.h.

References G, m_field_color, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and R.

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◆ setVisibility()

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

inlineinherited

Set object visibility (default=true)

See also: isVisible

Definition at line 73 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_visible.

◆ should_skip_display_list_cache()

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 61 of file CRenderizableDisplayList.h.

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

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◆ textBitmapWidth()

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 370 of file CRenderizable.cpp.

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

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◆ traceRay()

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

virtualinherited

Simulation of ray-trace, given a pose.

Returns true if the ray effectively collisions with the object (returning the distance to the origin of the ray in "dist"), or false in other case. "dist" variable yields undefined behaviour when false is returned

Reimplemented in mrpt::opengl::CPolyhedron, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CMesh, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CEllipsoid, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CFrustum, mrpt::opengl::CSetOfObjects, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::CSphere, mrpt::opengl::CDisk, mrpt::opengl::CBox, mrpt::opengl::CTexturedPlane, mrpt::opengl::CAssimpModel, mrpt::opengl::CCylinder, and mrpt::opengl::COpenGLStandardObject.

Definition at line 338 of file CRenderizable.cpp.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

◆ writeToStreamRender()

void CRenderizable::writeToStreamRender ( mrpt::serialization::CArchive & out ) const

protectedinherited

Definition at line 104 of file CRenderizable.cpp.

Referenced by mrpt::opengl::CSetOfLines::serializeTo(), serializeTo(), mrpt::opengl::CVectorField3D::serializeTo(), mrpt::opengl::CBox::serializeTo(), mrpt::opengl::CPolyhedron::serializeTo(), mrpt::opengl::CFrustum::serializeTo(), and mrpt::opengl::CPlanarLaserScan::serializeTo().

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Member Data Documentation

◆ _init_CVectorField2D

mrpt::rtti::CLASSINIT mrpt::opengl::CVectorField2D::_init_CVectorField2D

staticprotected

Definition at line 34 of file CVectorField2D.h.

◆ className

constexpr const char* mrpt::opengl::CVectorField2D::className = "CVectorField2D"

static

Definition at line 34 of file CVectorField2D.h.

◆ m_antiAliasing

bool mrpt::opengl::CVectorField2D::m_antiAliasing {true}

protected

By default is true.

Definition at line 48 of file CVectorField2D.h.

Referenced by enableAntiAliasing(), isAntiAliasingEnabled(), render_dl(), serializeFrom(), and serializeTo().

◆ m_color

mrpt::img::TColor mrpt::opengl::CRenderizable::m_color

protectedinherited

Color components in the range [0,255].

Definition at line 51 of file CRenderizable.h.

◆ m_field_color

mrpt::img::TColor mrpt::opengl::CVectorField2D::m_field_color

protected

Definition at line 51 of file CVectorField2D.h.

Referenced by CVectorField2D(), getVectorFieldColor(), render_dl(), serializeFrom(), serializeTo(), and setVectorFieldColor().

◆ m_LineWidth

float mrpt::opengl::CVectorField2D::m_LineWidth {1.0}

protected

By default is 1.0.

Definition at line 44 of file CVectorField2D.h.

Referenced by getLineWidth(), render_dl(), serializeFrom(), serializeTo(), and setLineWidth().

◆ m_name

std::string mrpt::opengl::CRenderizable::m_name

protectedinherited

Definition at line 48 of file CRenderizable.h.

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

◆ m_point_color

mrpt::img::TColor mrpt::opengl::CVectorField2D::m_point_color

protected

Definition at line 50 of file CVectorField2D.h.

Referenced by CVectorField2D(), getPointColor(), render_dl(), serializeFrom(), serializeTo(), and setPointColor().

◆ m_pointSize

float mrpt::opengl::CVectorField2D::m_pointSize {1.0}

protected

By default is 1.0.

Definition at line 46 of file CVectorField2D.h.

Referenced by getPointSize(), render_dl(), serializeFrom(), serializeTo(), and setPointSize().

◆ m_pose

mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose

protectedinherited

6D pose wrt the parent coordinate reference.

This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.

Definition at line 54 of file CRenderizable.h.

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x {1}

protectedinherited

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

Definition at line 56 of file CRenderizable.h.

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

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y {1}

protectedinherited

Definition at line 56 of file CRenderizable.h.

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

◆ m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z {1}

protectedinherited

Definition at line 56 of file CRenderizable.h.

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

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name {false}

protectedinherited

Definition at line 49 of file CRenderizable.h.

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

◆ m_visible

bool mrpt::opengl::CRenderizable::m_visible {true}

protectedinherited

Is the object visible? (default=true)

Definition at line 58 of file CRenderizable.h.

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

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::opengl::CVectorField2D::runtimeClassId

staticprotected

Definition at line 34 of file CVectorField2D.h.

◆ xcomp

mrpt::math::CMatrixF mrpt::opengl::CVectorField2D::xcomp

protected

X component of the vector field.

Definition at line 37 of file CVectorField2D.h.

Referenced by adjustVectorFieldToGrid(), clear(), cols(), getBoundingBox(), getVectorField(), getVectorField_x(), render_dl(), resize(), rows(), serializeFrom(), serializeTo(), setGridCenterAndCellSize(), and setVectorField().

◆ xMax

float mrpt::opengl::CVectorField2D::xMax {1.0}

protected

Definition at line 42 of file CVectorField2D.h.

Referenced by adjustVectorFieldToGrid(), getBoundingBox(), getGridLimits(), render_dl(), serializeFrom(), serializeTo(), setGridCenterAndCellSize(), and setGridLimits().

◆ xMin

float mrpt::opengl::CVectorField2D::xMin {-1.0}

protected

Grid bounds.

Definition at line 42 of file CVectorField2D.h.

Referenced by adjustVectorFieldToGrid(), getBoundingBox(), getGridLimits(), render_dl(), serializeFrom(), serializeTo(), setGridCenterAndCellSize(), and setGridLimits().

◆ ycomp

mrpt::math::CMatrixF mrpt::opengl::CVectorField2D::ycomp

protected

Y component of the vector field.

Definition at line 39 of file CVectorField2D.h.

Referenced by adjustVectorFieldToGrid(), clear(), getBoundingBox(), getVectorField(), getVectorField_y(), render_dl(), resize(), serializeFrom(), serializeTo(), and setVectorField().

◆ yMax

float mrpt::opengl::CVectorField2D::yMax {1.0}

protected

Definition at line 42 of file CVectorField2D.h.

Referenced by adjustVectorFieldToGrid(), getBoundingBox(), getGridLimits(), render_dl(), serializeFrom(), serializeTo(), setGridCenterAndCellSize(), and setGridLimits().

◆ yMin

float mrpt::opengl::CVectorField2D::yMin {-1.0}

protected

Definition at line 42 of file CVectorField2D.h.

Referenced by adjustVectorFieldToGrid(), getBoundingBox(), getGridLimits(), render_dl(), serializeFrom(), serializeTo(), setGridCenterAndCellSize(), and setGridLimits().

Detailed Description

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CVectorField2D() [1/2]

◆ CVectorField2D() [2/2]

◆ ~CVectorField2D()

Member Function Documentation

◆ _GetBaseClass()

◆ adjustVectorFieldToGrid()

◆ checkOpenGLError()

◆ clear()

◆ clone()

◆ cols()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ enableAntiAliasing()

◆ enableShowName()

◆ getBoundingBox()

◆ getClassName()

◆ getColor()

◆ getColor_u8()

◆ getColorA()

◆ getColorA_u8()

◆ getColorB()

◆ getColorB_u8()

◆ getColorG()

◆ getColorG_u8()

◆ getColorR()

◆ getColorR_u8()

◆ getGridLimits()

◆ getLineWidth()

◆ getName()

◆ getNewTextureNumber()

◆ getPointColor()

◆ getPointSize()

◆ getPose()

◆ getPosePitch()

◆ getPosePitchRad()

◆ getPoseRef()

◆ getPoseRoll()

◆ getPoseRollRad()

◆ getPoseX()

◆ getPoseY()

◆ getPoseYaw()

◆ getPoseYawRad()

◆ getPoseZ()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getScaleX()

◆ getScaleY()

◆ getScaleZ()

◆ getVectorField()

◆ getVectorField_x() [1/2]

◆ getVectorField_x() [2/2]

◆ getVectorField_y() [1/2]

◆ getVectorField_y() [2/2]

◆ getVectorFieldColor()

◆ isAntiAliasingEnabled()

◆ isShowNameEnabled()

◆ isVisible()

◆ notifyChange()

◆ readFromStreamRender()

◆ releaseTextureName()

◆ render()

◆ render_dl()

◆ renderTextBitmap() [1/2]

◆ renderTextBitmap() [2/2]