graph_tools.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/opengl/CSetOfObjects.h>
#include <mrpt/system/TParameters.h>

namespace mrpt
{
/** \ingroup mrpt_opengl_grp */
namespace opengl
{
/** Tool functions for graphs of pose constraints. \ingroup mrpt_opengl_grp  */
namespace graph_tools
{
/** @name Tool functions for graphs of pose constraints
    @{ */

/** Returns an opengl objects representation of an arbitrary graph, as a network
 *of 3D pose frames.
 *  Note that the "global" coordinates of each node are taken from
 *mrpt::graphs::CNetworkOfPoses::nodes, so
 *   if a node appears in "edges" but not in "nodes" it will be not displayed.
 *
 *  \param g             The graph
 *  \param extra_params  An extra set of optional parameters (see below).
 * List of accepted extra parameters (note that all are double values, booleans
 *are emulated with 0 & !=0 values):
 *
 *   <table align="center" >
 *   <tr> <td align="center" ><b>Parameter name</b></td> <td align="center" >
 *<b>Description</b> </td> <td align="center" ><b>Default value</b></td> </tr>
 *   <tr>
 *        <td align="center" ><code> show_ID_labels </code></td>
 *        <td> If set to !=0, show poses ID labels </td>
 *        <td align="center" > 0 (don't show) </td>
 *   </tr>
 *   <tr>
 *        <td align="center" ><code> show_ground_grid </code></td>
 *        <td> If set to !=0, create a gray grid on the ground level
 *(mrpt::opengl::CGridPlaneXY). The extension of the grid is computed to cover
 *the entire graph extension </td>
 *        <td align="center" > 1 (do show) </td>
 *   </tr>
 *   <tr>
 *        <td align="center" ><code> show_edges </code></td>
 *        <td> If set to !=0, draw lines between nodes with at least one edge
 *between them. </td>
 *        <td align="center" > 1 (do show) </td>
 *   </tr>
 *   <tr>
 *        <td align="center" ><code> show_node_corners </code></td>
 *        <td> If set to !=0, draw a small 3D corner frame at each node (see
 *mrpt::opengl::stock_objects::CornerXYZSimple). </td>
 *        <td align="center" > 1 (do show) </td>
 *   </tr>
 *   <tr>
 *        <td align="center" ><code> show_edge_rel_poses </code></td>
 *        <td> If set to !=0, draw the relative poses stored in each edge as a
 *small extra 3D corner frame at each node pose (+) the edge pose (see
 *mrpt::opengl::stock_objects::CornerXYZSimple). </td>
 *        <td align="center" > 1 (do show) </td>
 *   </tr>
 *   <tr>
 *        <td align="center" ><code> nodes_point_size </code></td>
 *        <td> If set to !=0, draw a point of the given size (glPointSize) at
 *each node.</td>
 *        <td align="center" > 0 (no points) </td>
 *   </tr>
 *
 *   <tr>
 *        <td align="center" ><code> nodes_corner_scale </code></td>
 *        <td> If show_node_corners!=0, the size (length) of te corner lines.
 *</td>
 *        <td align="center" > 0.7 </td>
 *   </tr>
 *   <tr>
 *        <td align="center" ><code> nodes_edges_corner_scale </code></td>
 *        <td> If show_edge_rel_poses is !=0, the size of the corners at the
 *end of each drawn edge.</td>
 *        <td align="center" > 0.4 </td>
 *   </tr>
 *   <tr>
 *        <td align="center" ><code> nodes_point_color </code></td>
 *        <td> If nodes_point_size!=0, set this value to a hexadecimal int
 *value 0xRRGGBB with the desired RGB color of points.</td>
 *        <td align="center" > 0xA0A0A0 (light gray) </td>
 *   </tr>
 *   <tr>
 *        <td align="center" ><code> edge_color </code></td>
 *        <td> If show_edges is !=0, the color of those edges as a
 *hexadecimal int value 0xAARRGGBB with Alpha+RGB color
 *(Alpha=0xFF:opaque,0x00:transparent).</td>
 *        <td align="center" > 0x400000FF </td>
 *   </tr>
 *
 *   <tr>
 *        <td align="center" ><code> edge_rel_poses_color </code></td>
 *        <td> If show_edge_rel_poses is !=0, the color of those edges as a
 *hexadecimal int value 0xAARRGGBB with Alpha+RGB color
 *(Alpha=0xFF:opaque,0x00:transparent).</td>
 *        <td align="center" > 0x40FF8000 </td>
 *   </tr>
 *   <tr>
 *        <td align="center" ><code> edge_width </code></td>
 *        <td> If show_edges is !=0, the width of edge lines.</td>
 *        <td align="center" > 2.0 </td>
 *   </tr>
 *
 *    </table>
 *
 * \sa mrpt::graphs::CNetworkOfPoses2D, mrpt::graphs::CNetworkOfPoses3D,
 *mrpt::graphs::CNetworkOfPoses2DInf, mrpt::graphs::CNetworkOfPoses3DInf
 * \note Implemented as headers-only in \a graph_tools_impl.h
 * \ingroup mrpt_opengl_grp
 */
template <class GRAPH_T>
CSetOfObjects::Ptr graph_visualize(
    const GRAPH_T& g, const mrpt::system::TParametersDouble& extra_params =
                          mrpt::system::TParametersDouble());

/** @} */
}  // namespace graph_tools
}  // namespace opengl

}  // namespace mrpt

#include "graph_tools_impl.h"