class mrpt::opengl::CSetOfLines

A set of independent lines (or segments), one line with its own start and end positions (X,Y,Z).

Optionally, the vertices can be also shown as dots.

See also:

opengl::COpenGLScene

#include <mrpt/opengl/CSetOfLines.h>

class CSetOfLines:
    public mrpt::opengl::CRenderizableShaderWireFrame,
    public mrpt::opengl::CRenderizableShaderPoints
{
public:
    // typedefs

    typedef std::vector<mrpt::math::TSegment3D>::iterator iterator;
    typedef std::vector<mrpt::math::TSegment3D>::reverse_iterator reverse_iterator;
    typedef std::vector<mrpt::math::TSegment3D>::const_iterator const_iterator;
    typedef std::vector<mrpt::math::TSegment3D>::const_reverse_iterator const_reverse_iterator;

    // construction

    CSetOfLines();
    CSetOfLines(const std::vector<mrpt::math::TSegment3D>& sgms, bool antiAliasing = true);

    //
methods

    virtual void render(const RenderContext& rc) const;
    virtual void renderUpdateBuffers() const;
    virtual void freeOpenGLResources();
    virtual shader_list_t requiredShaders() const;
    virtual void onUpdateBuffers_Wireframe();
    virtual void onUpdateBuffers_Points();
    void clear();
    float getVerticesPointSize() const;
    void setVerticesPointSize(const float size_points);
    void appendLine(const mrpt::math::TSegment3D& sgm);
    void appendLine(double x0, double y0, double z0, double x1, double y1, double z1);
    void appendLineStrip(float x, float y, float z);

    template <class U>
    void appendLineStrip(const U& point);

    template <class T>
    void appendLines(const T& sgms);

    template <class T_it>
    void appendLines(const T_it& begin, const T_it& end);

    void resize(size_t nLines);
    void reserve(size_t r);

    template <class T, class U>
    void appendLine(T p0, U p1);

    size_t getLineCount() const;
    size_t size() const;
    bool empty() const;
    void setLineByIndex(size_t index, const mrpt::math::TSegment3D& segm);

    void setLineByIndex(
        size_t index,
        double x0,
        double y0,
        double z0,
        double x1,
        double y1,
        double z1
        );

    void getLineByIndex(
        size_t index,
        double& x0,
        double& y0,
        double& z0,
        double& x1,
        double& y1,
        double& z1
        ) const;

    const_iterator begin() const;
    iterator begin();
    const_iterator end() const;
    iterator end();
    const_reverse_iterator rbegin() const;
    const_reverse_iterator rend() const;
    virtual void getBoundingBox(mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const;
    void enableAntiAliasing(bool enable = true);
    bool isAntiAliasingEnabled() const;
};

Inherited Members

public:
    // structs

    struct RenderContext;

    //
methods

    virtual void render(const RenderContext& rc) const = 0;
    virtual void renderUpdateBuffers() const = 0;
    virtual shader_list_t requiredShaders() const;
    virtual void getBoundingBox(mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const = 0;
    virtual void freeOpenGLResources() = 0;
    virtual void onUpdateBuffers_Wireframe() = 0;
    virtual void onUpdateBuffers_Points() = 0;

Construction

CSetOfLines()

Constructor.

CSetOfLines(const std::vector<mrpt::math::TSegment3D>& sgms, bool antiAliasing = true)

Constructor with a initial set of lines.

Methods

virtual void render(const RenderContext& rc) const

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

virtual void renderUpdateBuffers() const

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

before they are sent for rendering in render()

virtual void freeOpenGLResources()

Free opengl buffers.

virtual shader_list_t requiredShaders() const

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

See also:

DefaultShaderID

virtual void onUpdateBuffers_Wireframe()

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

virtual void onUpdateBuffers_Points()

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

void clear()

Clear the list of segments.

void setVerticesPointSize(const float size_points)

Enable showing vertices as dots if size_points>0.

void appendLine(const mrpt::math::TSegment3D& sgm)

Appends a line to the set.

void appendLine(
    double x0,
    double y0,
    double z0,
    double x1,
    double y1,
    double z1
    )

Appends a line to the set, given the coordinates of its bounds.

void appendLineStrip(float x, float y, float z)

Appends a line whose starting point is the end point of the last line (similar to OpenGL’s GL_LINE_STRIP)

Parameters:

std::exception

If there is no previous segment

template <class U>
void appendLineStrip(const U& point)

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

template <class T>
void appendLines(const T& sgms)

Appends any iterable collection of lines to the set.

Note that this includes another CSetOfLines.

See also:

appendLine

template <class T_it>
void appendLines(const T_it& begin, const T_it& end)

Appends certain amount of lines, located between two iterators, into the set.

See also:

appendLine

void resize(size_t nLines)

Resizes the set.

See also:

reserve

void reserve(size_t r)

Reserves an amount of lines to the set.

This method should be used when some known amount of lines is going to be inserted, so that only a memory allocation is needed.

See also:

resize

template <class T, class U>
void appendLine(T p0, U p1)

Inserts a line, given its bounds.

Works with any pair of objects with access to x, y and z members.

size_t getLineCount() const

Returns the total count of lines in this set.

size_t size() const

Returns the total count of lines in this set.

bool empty() const

Returns true if there are no line segments.

void setLineByIndex(size_t index, const mrpt::math::TSegment3D& segm)

Sets a specific line in the set, given its index.

See also:

appendLine

void setLineByIndex(
    size_t index,
    double x0,
    double y0,
    double z0,
    double x1,
    double y1,
    double z1
    )

Sets a specific line in the set, given its index.

See also:

appendLine

void getLineByIndex(
    size_t index,
    double& x0,
    double& y0,
    double& z0,
    double& x1,
    double& y1,
    double& z1
    ) const

Gets a specific line in the set, given its index.

See also:

getLineByIndex

const_iterator begin() const

Beginning const iterator.

See also:

end, rbegin, rend

const_iterator end() const

Ending const iterator.

See also:

begin, rend, rbegin

const_reverse_iterator rbegin() const

Beginning const reverse iterator (actually, accesses the end of the set).

See also:

rend, begin, end

const_reverse_iterator rend() const

Ending const reverse iterator (actually, refers to the starting point of the set).

See also:

rbegin, end, begin

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

Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent.