CMRVisualizer.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CMRVISUALIZER_H
#define CMRVISUALIZER_H
 
#include <iostream>
 
#include <mrpt/graphs/CVisualizer.h>
#include <mrpt/graphs/TMRSlamNodeAnnotations.h>
#include <utility>
 
namespace mrpt
{
namespace graphs
{
namespace detail
{
// (Dummy) standard version
//////////////////////////////////////////////////////////
 
/**\brief Wrapper class that provides visualization of a network of poses that
 * have been registered by many graphSLAM agents/robots
 *
 * \note This is a dummy 4 template arguments version of the CMRVisualizer
 * class just to silence GCC warnings on conversions.
 * For implementation details users should see its specialized version that
 * runs specifically for TMRSlamNodeAnnotations as the 3rd template argument.
 *
 */
template <class CPOSE,  // Type of edges
                  class MAPS_IMPLEMENTATION,  // Use std::map<> vs. std::vector<>
                  class NODE_ANNOTATIONS = mrpt::graphs::detail::TMRSlamNodeAnnotations,
                  class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
class CMRVisualizer : public CVisualizer<CPOSE, MAPS_IMPLEMENTATION,
                                                                                 NODE_ANNOTATIONS, EDGE_ANNOTATIONS>
{
   public:
        typedef CVisualizer<CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS,
                                                EDGE_ANNOTATIONS>
                parent;
        typedef mrpt::graphs::CNetworkOfPoses<CPOSE, MAPS_IMPLEMENTATION,
                                                                                  NODE_ANNOTATIONS, EDGE_ANNOTATIONS>
                GRAPH_T;
 
        CMRVisualizer(const GRAPH_T& graph_in);
 
        ~CMRVisualizer();
        void drawNodePoints(
                mrpt::opengl::CSetOfObjects::Ptr& object,
                const mrpt::utils::TParametersDouble* viz_params = NULL) const;
        void drawEdges(
                mrpt::opengl::CSetOfObjects::Ptr& object,
                const mrpt::utils::TParametersDouble* viz_params = NULL) const;
 
   private:
};
 
// Specialized version
//////////////////////////////////////////////////////////
 
template <class CPOSE,  // Type of edges
                  class MAPS_IMPLEMENTATION,  // Use std::map<> vs. std::vector<>
                  class EDGE_ANNOTATIONS>
class CMRVisualizer<CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations,
                                        EDGE_ANNOTATIONS>
        : public CVisualizer<CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations,
                                                 EDGE_ANNOTATIONS>
{
   public:
        typedef CVisualizer<CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations,
                                                EDGE_ANNOTATIONS>
                parent;
        typedef mrpt::graphs::CNetworkOfPoses<
                CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS>
                GRAPH_T;
 
        CMRVisualizer(const GRAPH_T& graph_in);
 
        ~CMRVisualizer();
        void drawNodePoints(
                mrpt::opengl::CSetOfObjects::Ptr& object,
                const mrpt::utils::TParametersDouble* viz_params = NULL) const;
        void drawEdges(
                mrpt::opengl::CSetOfObjects::Ptr& object,
                const mrpt::utils::TParametersDouble* viz_params = NULL) const;
 
   private:
};
}
}
}  // end of namespaces
 
#include <mrpt/graphs/CMRVisualizer_impl.h>
 
#endif /* end of include guard: CMRVISUALIZER_H */