CVisualizer.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, 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/graphs/CNetworkOfPoses.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CPointCloud.h>
#include <mrpt/opengl/CSetOfLines.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CSimpleLine.h>
#include <mrpt/opengl/stock_objects.h>
#include <mrpt/system/TParameters.h>

namespace mrpt::graphs::detail
{
/**\brief Base class for C*Visualizer classes.
 *
 * By default provides visualization for a CNetowrkOfPoses containing nodes and
 * edges as constructed by a single agent/robot. Derived classes can inherit
 * and partially modify the class behavior
 */
template <
    class CPOSE,  // Type of edges
    class MAPS_IMPLEMENTATION,  // Use std::map<> vs. std::vector<>
    class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotations,
    class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
class CVisualizer
{
   public:
    using GRAPH_T = mrpt::graphs::CNetworkOfPoses<
        CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>;
    /**\brief Constructor
     */
    CVisualizer(const GRAPH_T& graph_in);
    /**\brief Destructor
     */
    virtual ~CVisualizer();
    /**\brief Common visualization stuff for all derived classes
     *
     * Function delegates visualization tasks to the draw* methods according to
     * the user preferences
     *
     */
    virtual void getAs3DObject(
        mrpt::opengl::CSetOfObjects::Ptr& object,
        mrpt::system::TParametersDouble viz_params) const;

   protected:
    /**\name Work-splitting methods
     * \brief Smaller functions that do add very specific parts to the visual
     * representation
     *
     * Following functions take an optional TParametersDouble instance
     * containing
     * visualization parameters
     *
     */
    /**\{ */
    virtual void drawGroundGrid(
        mrpt::opengl::CSetOfObjects::Ptr& object,
        const mrpt::system::TParametersDouble* viz_params = nullptr) const;
    virtual void drawNodeCorners(
        mrpt::opengl::CSetOfObjects::Ptr& object,
        const mrpt::system::TParametersDouble* viz_params = nullptr) const;
    virtual void drawNodePoints(
        mrpt::opengl::CSetOfObjects::Ptr& object,
        const mrpt::system::TParametersDouble* viz_params = nullptr) const;
    virtual void drawEdgeRelPoses(
        mrpt::opengl::CSetOfObjects::Ptr& object,
        const mrpt::system::TParametersDouble* viz_params = nullptr) const;
    virtual void drawEdges(
        mrpt::opengl::CSetOfObjects::Ptr& object,
        const mrpt::system::TParametersDouble* viz_params = nullptr) const;

    /**\} */

    bool m_is_3D_graph;
    const GRAPH_T& m_graph;
};
}  // namespace mrpt::graphs::detail
#include <mrpt/graphs/CVisualizer_impl.h>