Detailed Description

A cylinder or cone whose base lies in the XY plane.

See also: opengl::COpenGLScene,opengl::CDisk

mrpt::opengl::CCylinder

Definition at line 29 of file CCylinder.h.

#include <mrpt/opengl/CCylinder.h>

Inheritance diagram for mrpt::opengl::CCylinder:

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

void	setHasBases (bool top=true, bool bottom=true)
	Configuration of the cylinder's bases display. More...

bool	hasTopBase () const
	Check whether top base is displayed. More...

bool	hasBottomBase () const
	Check whether bottom base is displayed. More...

void	setRadius (float radius)
	Sets both radii to a single value, thus configuring the object as a cylinder. More...

void	setRadii (float bottom, float top)
	Sets both radii independently. More...

void	setHeight (float height)
	Chenges cylinder's height. More...

float	getBottomRadius () const
	Gets the bottom radius. More...

float	getTopRadius () const
	Gets the top radius. More...

float	getHeight () const
	Gets the cylinder's height. More...

void	setSlicesCount (uint32_t slices)
	Number of radial divisions. More...

uint32_t	getSlicesCount () const
	Number of radial divisions. 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...

	CCylinder ()=default

	CCylinder (const float baseRadius, const float topRadius, const float height=1, const int slices=10)
	Complete constructor. More...

	~CCylinder () override=default
	Destructor. More...

virtual shader_list_t	requiredShaders () const override
	Returns the ID of the OpenGL shader program required to render this class. More...

void	render (const RenderContext &rc) const override
	Implements the rendering of 3D objects in each class derived from CRenderizable. More...

void	renderUpdateBuffers () const override
	Called whenever m_outdatedBuffers is true: used to re-generate OpenGL vertex buffers, etc. More...

void	freeOpenGLResources () override
	Free opengl buffers. More...

virtual void	enqueForRenderRecursive ([[maybe_unused]] const mrpt::opengl::TRenderMatrices &state, [[maybe_unused]] RenderQueue &rq) const
	Process all children objects recursively, if the object is a container. More...

void	updateBuffers () const
	Calls renderUpdateBuffers() and clear the flag that is set with notifyChange() More...

void	notifyChange () const
	Call to enable calling renderUpdateBuffers() before the next render() rendering iteration. More...

bool	hasToUpdateBuffers () const
	Returns whether notifyChange() has been invoked since the last call to renderUpdateBuffers(), meaning the latter needs to be called again before rendering. More...

virtual mrpt::math::TPoint3Df	getLocalRepresentativePoint () const
	Provide a representative point (in object local coordinates), used to sort objects by eye-distance while rendering with transparencies (Default=[0,0,0]) More...

void	setLocalRepresentativePoint (const mrpt::math::TPoint3Df &p)
	See getLocalRepresentativePoint() More...

mrpt::opengl::CText &	labelObject () const
	Returns or constructs (in its first invokation) the associated mrpt::opengl::CText object representing the label of the object. More...

virtual void	initializeTextures () const
	Initializes all textures (loads them into opengl memory). 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...

Renderizable shader API virtual methods
void	onUpdateBuffers_Triangles () override
	Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields. More...

Raw access to triangle shader buffer data
const auto &	shaderTexturedTrianglesBuffer () const

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...

float	getColorR () const
	Color components in the range [0,1]. More...

float	getColorG () const
	Color components in the range [0,1]. More...

float	getColorB () const
	Color components in the range [0,1]. More...

float	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 float r)
	Color components in the range [0,1]. More...

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

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

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

virtual CRenderizable &	setColorR_u8 (const uint8_t r)
	Color components in the range [0,255]. More...

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

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

virtual CRenderizable &	setColorA_u8 (const uint8_t a)
	Color components in the range [0,255]. 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 (float R, float G, float B, float 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...

virtual CRenderizable &	setColor_u8 (const mrpt::img::TColor &c)

CRenderizable &	setColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
	Set the color components of this object (R,G,B,Alpha, in the range 0-255) 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...

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

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

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...

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...

Protected Attributes
float	m_baseRadius {1}
	Cylinder's radii. More...

float	m_topRadius {1}

float	m_height {1}
	Cylinder's height. More...

uint32_t	m_slices {10}
	Number of radial divisions. More...

bool	m_hasTopBase {true}
	Boolean parameters about including the bases in the object. More...

bool	m_hasBottomBase {true}

std::vector< mrpt::opengl::TTriangle >	m_triangles
	List of triangles. More...

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...

bool	m_outdatedBuffers = true

mrpt::math::TPoint3Df	m_representativePoint {0, 0, 0}

std::shared_ptr< mrpt::opengl::CText >	m_label_obj
	Optional pointer to a mrpt::opengl::CText. More...

Private Member Functions
bool	getRadius (float Z, float &r) const
	Gets the radius of the circunference located at certain height, returning false if the cylinder doesn't get that high. More...

bool	reachesHeight (float Z) const
	Checks whether the cylinder exists at some height. More...

bool	reachesHeight (double Z) const

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::opengl ::CCylinder >

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

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

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

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::opengl" "::" "CCylinder"

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::CCylinder::ConstPtr = std::shared_ptr<const mrpt::opengl :: CCylinder >

Definition at line 31 of file CCylinder.h.

◆ ConstUniquePtr

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

Definition at line 31 of file CCylinder.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 31 of file CCylinder.h.

◆ UniquePtr

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

Definition at line 31 of file CCylinder.h.

Constructor & Destructor Documentation

◆ CCylinder() [1/2]

mrpt::opengl::CCylinder::CCylinder ( )

default

◆ CCylinder() [2/2]

mrpt::opengl::CCylinder::CCylinder	(	const float	baseRadius,
		const float	topRadius,
		const float	height = `1`,
		const int	slices = `10`
	)

inline

Complete constructor.

Allows the configuration of every parameter.Constructor with two radii. Allows the construction of any cylinder.

Definition at line 121 of file CCylinder.h.

◆ ~CCylinder()

mrpt::opengl::CCylinder::~CCylinder ( )

overridedefault

Destructor.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

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

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 31 of file CCylinder.h.

Referenced by addBar_A(), addBar_D(), mrpt::opengl::stock_objects::CornerXYSimple(), and mrpt::opengl::stock_objects::CornerXYZSimple().

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◆ CreateAlloc()

template<typename Alloc , typename... Args>

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

inlinestatic

Definition at line 31 of file CCylinder.h.

◆ CreateObject()

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

static

◆ CreateUnique()

template<typename... Args>

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

inlinestatic

Definition at line 31 of file CCylinder.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 204 of file CObject.h.

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

Referenced by mrpt::obs::CRawlog::insert().

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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 90 of file CRenderizable.h.

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

◆ enqueForRenderRecursive()

virtual void mrpt::opengl::CRenderizable::enqueForRenderRecursive	(	[[maybe_unused] ] const mrpt::opengl::TRenderMatrices &	state,
		[[maybe_unused] ] RenderQueue &	rq
	)		const

inlinevirtualinherited

Process all children objects recursively, if the object is a container.

Definition at line 285 of file CRenderizable.h.

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

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◆ freeOpenGLResources()

void mrpt::opengl::CRenderizableShaderTriangles::freeOpenGLResources ( )

inlineoverridevirtualinherited

Free opengl buffers.

Implements mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CVectorField2D, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, and mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >.

Definition at line 45 of file CRenderizableShaderTriangles.h.

References mrpt::opengl::COpenGLVertexArrayObject::destroy(), mrpt::opengl::COpenGLBuffer::destroy(), mrpt::opengl::CRenderizableShaderTriangles::m_trianglesBuffer, and mrpt::opengl::CRenderizableShaderTriangles::m_vao.

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◆ getBottomRadius()

float mrpt::opengl::CCylinder::getBottomRadius ( ) const

inline

Gets the bottom radius.

Definition at line 90 of file CCylinder.h.

References m_baseRadius.

◆ getBoundingBox()

void CCylinder::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 279 of file CCylinder.cpp.

References bb_max, and bb_min.

◆ getClassName()

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

inlinestatic

Definition at line 31 of file CCylinder.h.

◆ getColor()

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

inlineinherited

Returns the object color property as a TColorf.

Definition at line 229 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 248 of file CRenderizable.h.

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

◆ getColorA()

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

inlineinherited

Color components in the range [0,1].

Definition at line 164 of file CRenderizable.h.

References mrpt::img::TColor::A, mrpt::opengl::CRenderizable::m_color, and mrpt::u8tof().

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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 172 of file CRenderizable.h.

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

◆ getColorB()

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

inlineinherited

Color components in the range [0,1].

Definition at line 162 of file CRenderizable.h.

References mrpt::img::TColor::B, mrpt::opengl::CRenderizable::m_color, and mrpt::u8tof().

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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 170 of file CRenderizable.h.

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

◆ getColorG()

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

inlineinherited

Color components in the range [0,1].

Definition at line 160 of file CRenderizable.h.

References mrpt::img::TColor::G, mrpt::opengl::CRenderizable::m_color, and mrpt::u8tof().

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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 168 of file CRenderizable.h.

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

◆ getColorR()

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

inlineinherited

Color components in the range [0,1].

Definition at line 158 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color, mrpt::img::TColor::R, and mrpt::u8tof().

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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 166 of file CRenderizable.h.

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

◆ getHeight()

float mrpt::opengl::CCylinder::getHeight ( ) const

inline

Gets the cylinder's height.

Definition at line 98 of file CCylinder.h.

References m_height.

◆ getLocalRepresentativePoint()

virtual mrpt::math::TPoint3Df mrpt::opengl::CRenderizable::getLocalRepresentativePoint ( ) const

inlinevirtualinherited

Provide a representative point (in object local coordinates), used to sort objects by eye-distance while rendering with transparencies (Default=[0,0,0])

Reimplemented in mrpt::opengl::CPlanarLaserScan.

Definition at line 341 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_representativePoint.

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

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◆ getName()

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

inlineinherited

Returns the name of the object.

Definition at line 75 of file CRenderizable.h.

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

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

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◆ getPose()

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

inherited

Returns the 3D pose of the object as TPose3D.

Definition at line 223 of file CRenderizable.cpp.

Referenced by mrpt::opengl::COpenGLViewport::renderNormalSceneMode().

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◆ getPosePitch()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 148 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 154 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 117 of file CRenderizable.h.

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

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

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◆ getPoseRoll()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 150 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 156 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 140 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 142 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 146 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 152 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 144 of file CRenderizable.h.

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

◆ getRadius()

bool mrpt::opengl::CCylinder::getRadius	(	float	Z,
		float &	r
	)		const

inlineprivate

Gets the radius of the circunference located at certain height, returning false if the cylinder doesn't get that high.

Definition at line 162 of file CCylinder.h.

References m_baseRadius, m_height, m_topRadius, and reachesHeight().

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◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableShaderTriangles.

◆ GetRuntimeClassIdStatic()

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

static

◆ getScaleX()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 223 of file CRenderizable.h.

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

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

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◆ getScaleY()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 225 of file CRenderizable.h.

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

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

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◆ getScaleZ()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 227 of file CRenderizable.h.

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

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

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◆ getSlicesCount()

uint32_t mrpt::opengl::CCylinder::getSlicesCount ( ) const

inline

Number of radial divisions.

Definition at line 108 of file CCylinder.h.

References m_slices.

◆ getTopRadius()

float mrpt::opengl::CCylinder::getTopRadius ( ) const

inline

Gets the top radius.

Definition at line 94 of file CCylinder.h.

References m_topRadius.

◆ hasBottomBase()

bool mrpt::opengl::CCylinder::hasBottomBase ( ) const

inline

Check whether bottom base is displayed.

See also: hasTopBase

Definition at line 58 of file CCylinder.h.

References m_hasBottomBase.

◆ hasTopBase()

bool mrpt::opengl::CCylinder::hasTopBase ( ) const

inline

Check whether top base is displayed.

See also: hasBottomBase

Definition at line 53 of file CCylinder.h.

References m_hasTopBase.

◆ hasToUpdateBuffers()

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

inlineinherited

Returns whether notifyChange() has been invoked since the last call to renderUpdateBuffers(), meaning the latter needs to be called again before rendering.

Definition at line 324 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_outdatedBuffers.

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

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◆ initializeTextures()

virtual void mrpt::opengl::CRenderizable::initializeTextures ( ) const

inlinevirtualinherited

Initializes all textures (loads them into opengl memory).

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableShaderTexturedTriangles.

Definition at line 362 of file CRenderizable.h.

◆ isShowNameEnabled()

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

inlineinherited

See also: enableShowName

Definition at line 92 of file CRenderizable.h.

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

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

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◆ isVisible()

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

inlineinherited

Is the object visible?

See also: setVisibility

Definition at line 76 of file CRenderizable.h.

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

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

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◆ labelObject()

CText & CRenderizable::labelObject ( ) const

inherited

Returns or constructs (in its first invokation) the associated mrpt::opengl::CText object representing the label of the object.

See also: enableShowName()

Definition at line 238 of file CRenderizable.cpp.

References mrpt::opengl::CText::setString().

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

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◆ notifyChange()

void mrpt::opengl::CRenderizable::notifyChange ( ) const

inlineinherited

Call to enable calling renderUpdateBuffers() before the next render() rendering iteration.

Definition at line 315 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_outdatedBuffers.

◆ onUpdateBuffers_Triangles()

void CCylinder::onUpdateBuffers_Triangles ( )

overridevirtual

Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields.

Implements mrpt::opengl::CRenderizableShaderTriangles.

Definition at line 25 of file CCylinder.cpp.

References ASSERT_ABOVE_, M_PIf, and mrpt::opengl::CRenderizableShaderTriangles::m_triangles.

◆ reachesHeight() [1/2]

bool mrpt::opengl::CCylinder::reachesHeight ( float Z ) const

inlineprivate

Checks whether the cylinder exists at some height.

Definition at line 171 of file CCylinder.h.

References m_height.

Referenced by getRadius().

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◆ reachesHeight() [2/2]

bool mrpt::opengl::CCylinder::reachesHeight ( double Z ) const

inlineprivate

Definition at line 176 of file CCylinder.h.

References mrpt::d2f(), and reachesHeight().

Referenced by reachesHeight().

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◆ readFromStreamRender()

void CRenderizable::readFromStreamRender ( mrpt::serialization::CArchive & in )

protectedinherited

Definition at line 99 of file CRenderizable.cpp.

References mrpt::obs::gnss::pitch, mrpt::serialization::CArchive::ReadBuffer(), mrpt::obs::gnss::roll, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::opengl::CGridPlaneXY::serializeFrom(), mrpt::opengl::CGridPlaneXZ::serializeFrom(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CPolyhedron::serializeFrom(), and mrpt::opengl::CFrustum::serializeFrom().

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◆ render()

void CRenderizableShaderTriangles::render ( const RenderContext & rc ) const

overridevirtualinherited

Implements the rendering of 3D objects in each class derived from CRenderizable.

This can be called more than once (one per required shader program) if the object registered several shaders.

See also: renderUpdateBuffers

Implements mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CVectorField2D, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, and mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >.

Definition at line 45 of file CRenderizableShaderTriangles.cpp.

References mrpt::opengl::TLightParameters::ambient, mrpt::opengl::Program::attributeId(), mrpt::opengl::COpenGLVertexArrayObject::bind(), mrpt::opengl::COpenGLBuffer::bind(), BUFFER_OFFSET, mrpt::opengl::TLightParameters::diffuse, mrpt::opengl::TLightParameters::direction, mrpt::opengl::Program::hasUniform(), mrpt::opengl::CRenderizable::RenderContext::lights, mrpt::opengl::CRenderizableShaderTriangles::m_triangles, mrpt::opengl::CRenderizableShaderTriangles::m_trianglesBuffer, mrpt::opengl::CRenderizableShaderTriangles::m_vao, mrpt::img::TColorf::R, mrpt::opengl::CRenderizable::RenderContext::shader, mrpt::opengl::TLightParameters::specular, mrpt::opengl::Program::uniformId(), and mrpt::math::TPoint3D_data< T >::x.

Referenced by mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::render(), mrpt::opengl::CMesh3D::render(), mrpt::opengl::CBox::render(), mrpt::opengl::CAssimpModel::render(), mrpt::opengl::CPolyhedron::render(), mrpt::opengl::CVectorField2D::render(), mrpt::opengl::CColorBar::render(), mrpt::opengl::CFrustum::render(), mrpt::opengl::CPlanarLaserScan::render(), and mrpt::opengl::COctoMapVoxels::render().

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◆ renderUpdateBuffers()

void mrpt::opengl::CRenderizableShaderTriangles::renderUpdateBuffers ( ) const

overridevirtualinherited

Called whenever m_outdatedBuffers is true: used to re-generate OpenGL vertex buffers, etc.

before they are sent for rendering in render()

Implements mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CVectorField2D, and mrpt::opengl::CSphere.

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◆ requiredShaders()

virtual shader_list_t mrpt::opengl::CRenderizableShaderTriangles::requiredShaders ( ) const

inlineoverridevirtualinherited

Returns the ID of the OpenGL shader program required to render this class.

See also: DefaultShaderID

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CAngularObservationMesh, mrpt::opengl::COctoMapVoxels, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CPlanarLaserScan, mrpt::opengl::CFrustum, mrpt::opengl::CVectorField2D, mrpt::opengl::CColorBar, mrpt::opengl::CPolyhedron, mrpt::opengl::CAssimpModel, mrpt::opengl::CMesh3D, and mrpt::opengl::CBox.

Definition at line 33 of file CRenderizableShaderTriangles.h.

References mrpt::opengl::DefaultShaderID::TRIANGLES.

◆ serializeFrom() [1/2]

void CCylinder::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 103 of file CCylinder.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and SCHEMA_DESERIALIZE_DATATYPE_VERSION.

◆ 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 CCylinder::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 123 of file CCylinder.cpp.

◆ serializeTo() [1/2]

void CCylinder::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 93 of file CCylinder.cpp.

References out, and SCHEMA_SERIALIZE_DATATYPE_VERSION.

◆ 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 234 of file CRenderizable.h.

References mrpt::img::TColorf::A, mrpt::img::TColorf::B, mrpt::f2u8(), mrpt::img::TColorf::G, mrpt::img::TColorf::R, and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor	(	float	R,
		float	G,
		float	B,
		float	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 242 of file CRenderizable.h.

References mrpt::f2u8(), G, R, and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor_u8() [1/2]

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

virtualinherited

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 229 of file CRenderizable.cpp.

References mrpt::img::TColor::A, mrpt::img::TColor::B, mrpt::img::TColor::G, and mrpt::img::TColor::R.

Referenced by mrpt::opengl::CRenderizable::setColor(), and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor_u8() [2/2]

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

inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-255)

Returns: a ref to this

Definition at line 254 of file CRenderizable.h.

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

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◆ setColorA()

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

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 180 of file CRenderizable.h.

References mrpt::f2u8(), and mrpt::opengl::CRenderizable::setColorA_u8().

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◆ setColorA_u8()

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

inlinevirtualinherited

Color components in the range [0,255].

Returns: a ref to this

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 200 of file CRenderizable.h.

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

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject(), mrpt::opengl::CRenderizable::setColorA(), and mrpt::opengl::CSetOfObjects::setColorA_u8().

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◆ setColorB()

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

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 178 of file CRenderizable.h.

References mrpt::f2u8(), and mrpt::opengl::CRenderizable::setColorB_u8().

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◆ setColorB_u8()

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

inlinevirtualinherited

Color components in the range [0,255].

Returns: a ref to this

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 194 of file CRenderizable.h.

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

Referenced by mrpt::opengl::CRenderizable::setColorB(), and mrpt::opengl::CSetOfObjects::setColorB_u8().

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◆ setColorG()

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

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 176 of file CRenderizable.h.

References mrpt::f2u8(), and mrpt::opengl::CRenderizable::setColorG_u8().

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◆ setColorG_u8()

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

inlinevirtualinherited

Color components in the range [0,255].

Returns: a ref to this

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 188 of file CRenderizable.h.

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

Referenced by mrpt::opengl::CRenderizable::setColorG(), and mrpt::opengl::CSetOfObjects::setColorG_u8().

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◆ setColorR()

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

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 174 of file CRenderizable.h.

References mrpt::f2u8(), and mrpt::opengl::CRenderizable::setColorR_u8().

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◆ setColorR_u8()

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

inlinevirtualinherited

Color components in the range [0,255].

Returns: a ref to this

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 182 of file CRenderizable.h.

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

Referenced by mrpt::opengl::CRenderizable::setColorR(), and mrpt::opengl::CSetOfObjects::setColorR_u8().

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◆ setHasBases()

void mrpt::opengl::CCylinder::setHasBases	(	bool	top = `true`,
		bool	bottom = `true`
	)

inline

Configuration of the cylinder's bases display.

Definition at line 43 of file CCylinder.h.

References m_hasBottomBase, m_hasTopBase, and mrpt::opengl::CRenderizable::notifyChange().

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◆ setHeight()

void mrpt::opengl::CCylinder::setHeight ( float height )

inline

Chenges cylinder's height.

Definition at line 82 of file CCylinder.h.

References m_height, and mrpt::opengl::CRenderizable::notifyChange().

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◆ setLocalRepresentativePoint()

void mrpt::opengl::CRenderizable::setLocalRepresentativePoint ( const mrpt::math::TPoint3Df & p )

inlineinherited

See getLocalRepresentativePoint()

Definition at line 347 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_representativePoint.

◆ 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 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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◆ 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 131 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::math::TPoint3D_data< T >::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint3D_data< T >::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::TPoint3D_data< T >::z.

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◆ setName()

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

inlineinherited

Changes the name of the object.

Definition at line 73 of file CRenderizable.h.

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

◆ 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 189 of file CRenderizable.cpp.

Referenced by mrpt::opengl::COpenGLViewport::setCurrentCameraFromPose().

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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 194 of file CRenderizable.cpp.

◆ 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 199 of file CRenderizable.cpp.

◆ 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 204 of file CRenderizable.cpp.

◆ 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 211 of file CRenderizable.cpp.

References 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 217 of file CRenderizable.cpp.

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

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◆ setRadii()

void mrpt::opengl::CCylinder::setRadii	(	float	bottom,
		float	top
	)

inline

Sets both radii independently.

See also: setRadius

Definition at line 73 of file CCylinder.h.

References m_baseRadius, m_topRadius, and mrpt::opengl::CRenderizable::notifyChange().

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◆ setRadius()

void mrpt::opengl::CCylinder::setRadius ( float radius )

inline

Sets both radii to a single value, thus configuring the object as a cylinder.

See also: setRadii

Definition at line 64 of file CCylinder.h.

References m_baseRadius, m_topRadius, and mrpt::opengl::CRenderizable::notifyChange().

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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 208 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 215 of file CRenderizable.h.

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

◆ setSlicesCount()

void mrpt::opengl::CCylinder::setSlicesCount ( uint32_t slices )

inline

Number of radial divisions.

Definition at line 101 of file CCylinder.h.

References m_slices, and mrpt::opengl::CRenderizable::notifyChange().

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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 81 of file CRenderizable.h.

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

◆ shaderTexturedTrianglesBuffer()

const auto& mrpt::opengl::CRenderizableShaderTriangles::shaderTexturedTrianglesBuffer ( ) const

inlineinherited

Definition at line 53 of file CRenderizableShaderTriangles.h.

References mrpt::opengl::CRenderizableShaderTriangles::m_triangles.

◆ traceRay()

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

overridevirtual

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 from mrpt::opengl::CRenderizable.

Definition at line 192 of file CCylinder.cpp.

References mrpt::math::createFromPoseX(), mrpt::d2f(), mrpt::math::TLine3D::director, mrpt::math::getEpsilon(), mrpt::math::TLine3D::pBase, solveEqn(), mrpt::square(), mrpt::math::TLine3D::unitarize(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ updateBuffers()

void mrpt::opengl::CRenderizable::updateBuffers ( ) const

inlineinherited

Calls renderUpdateBuffers() and clear the flag that is set with notifyChange()

Definition at line 307 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_outdatedBuffers, and mrpt::opengl::CRenderizable::renderUpdateBuffers().

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

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◆ 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 44 of file CRenderizable.cpp.

References out.

Referenced by mrpt::opengl::CGridPlaneXY::serializeTo(), mrpt::opengl::CGridPlaneXZ::serializeTo(), mrpt::opengl::CSetOfLines::serializeTo(), mrpt::opengl::CVectorField3D::serializeTo(), mrpt::opengl::CPolyhedron::serializeTo(), and mrpt::opengl::CFrustum::serializeTo().

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Member Data Documentation

◆ className

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

static

Definition at line 31 of file CCylinder.h.

◆ m_baseRadius

float mrpt::opengl::CCylinder::m_baseRadius {1}

protected

Cylinder's radii.

If m_baseRadius==m_topRadius, then the object is an actual cylinder. If both differ, it's a truncated cone. If one of the radii is zero, the object is a cone.

Definition at line 141 of file CCylinder.h.

Referenced by getBottomRadius(), getRadius(), setRadii(), and setRadius().

◆ m_color

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

protectedinherited

Color components in the range [0,255].

Definition at line 59 of file CRenderizable.h.

◆ m_hasBottomBase

bool mrpt::opengl::CCylinder::m_hasBottomBase {true}

protected

Definition at line 155 of file CCylinder.h.

Referenced by hasBottomBase(), and setHasBases().

◆ m_hasTopBase

bool mrpt::opengl::CCylinder::m_hasTopBase {true}

protected

Boolean parameters about including the bases in the object.

If both m_hasTopBase and m_hasBottomBase are set to false, only the lateral area is displayed.

Definition at line 155 of file CCylinder.h.

Referenced by hasTopBase(), and setHasBases().

◆ m_height

float mrpt::opengl::CCylinder::m_height {1}

protected

Cylinder's height.

Definition at line 145 of file CCylinder.h.

Referenced by getHeight(), getRadius(), reachesHeight(), and setHeight().

◆ m_label_obj

std::shared_ptr<mrpt::opengl::CText> mrpt::opengl::CRenderizable::m_label_obj

mutableprotectedinherited

Optional pointer to a mrpt::opengl::CText.

Definition at line 372 of file CRenderizable.h.

◆ m_name

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

protectedinherited

Definition at line 56 of file CRenderizable.h.

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

◆ m_outdatedBuffers

bool mrpt::opengl::CRenderizable::m_outdatedBuffers = true

protectedinherited

Definition at line 368 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::hasToUpdateBuffers(), mrpt::opengl::CRenderizable::notifyChange(), and mrpt::opengl::CRenderizable::updateBuffers().

◆ 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 62 of file CRenderizable.h.

◆ m_representativePoint

mrpt::math::TPoint3Df mrpt::opengl::CRenderizable::m_representativePoint {0, 0, 0}

protectedinherited

Definition at line 369 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getLocalRepresentativePoint(), and mrpt::opengl::CRenderizable::setLocalRepresentativePoint().

◆ m_scale_x

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

protectedinherited

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

Definition at line 64 of file CRenderizable.h.

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

◆ m_scale_y

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

protectedinherited

Definition at line 64 of file CRenderizable.h.

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

◆ m_scale_z

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

protectedinherited

Definition at line 64 of file CRenderizable.h.

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

◆ m_show_name

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

protectedinherited

Definition at line 57 of file CRenderizable.h.

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

◆ m_slices

uint32_t mrpt::opengl::CCylinder::m_slices {10}

protected

Number of radial divisions.

Definition at line 148 of file CCylinder.h.

Referenced by getSlicesCount(), and setSlicesCount().

◆ m_topRadius

float mrpt::opengl::CCylinder::m_topRadius {1}

protected

Definition at line 141 of file CCylinder.h.

Referenced by getRadius(), getTopRadius(), setRadii(), and setRadius().

◆ m_triangles

std::vector<mrpt::opengl::TTriangle> mrpt::opengl::CRenderizableShaderTriangles::m_triangles

mutableprotectedinherited

List of triangles.

See also: TTriangle

Definition at line 58 of file CRenderizableShaderTriangles.h.

◆ m_visible

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

protectedinherited

Is the object visible? (default=true)

Definition at line 66 of file CRenderizable.h.

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

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::opengl::CCylinder::runtimeClassId

staticprotected

Definition at line 31 of file CCylinder.h.

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CCylinder() [1/2]

◆ CCylinder() [2/2]

◆ ~CCylinder()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ enableShowName()

◆ enqueForRenderRecursive()

◆ freeOpenGLResources()

◆ getBottomRadius()

◆ getBoundingBox()

◆ getClassName()

◆ getColor()

◆ getColor_u8()

◆ getColorA()

◆ getColorA_u8()

◆ getColorB()

◆ getColorB_u8()

◆ getColorG()

◆ getColorG_u8()

◆ getColorR()

◆ getColorR_u8()

◆ getHeight()

◆ getLocalRepresentativePoint()

◆ getName()

◆ getPose()

◆ getPosePitch()

◆ getPosePitchRad()

◆ getPoseRef()

◆ getPoseRoll()

◆ getPoseRollRad()

◆ getPoseX()

◆ getPoseY()

◆ getPoseYaw()

◆ getPoseYawRad()

◆ getPoseZ()

◆ getRadius()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getScaleX()

◆ getScaleY()

◆ getScaleZ()

◆ getSlicesCount()

◆ getTopRadius()

◆ hasBottomBase()

◆ hasTopBase()

◆ hasToUpdateBuffers()

◆ initializeTextures()

◆ isShowNameEnabled()

◆ isVisible()

◆ labelObject()

◆ notifyChange()

◆ onUpdateBuffers_Triangles()

◆ reachesHeight() [1/2]

◆ reachesHeight() [2/2]

◆ readFromStreamRender()

◆ render()

◆ renderUpdateBuffers()

◆ requiredShaders()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]