MRPT  1.9.9
graph_tools.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
13 
14 namespace mrpt
15 {
16 /** \ingroup mrpt_opengl_grp */
17 namespace opengl
18 {
19 /** Tool functions for graphs of pose constraints. \ingroup mrpt_opengl_grp */
20 namespace graph_tools
21 {
22 /** @name Tool functions for graphs of pose constraints
23  @{ */
24 
25 /** Returns an opengl objects representation of an arbitrary graph, as a network
26  *of 3D pose frames.
27  * Note that the "global" coordinates of each node are taken from
28  *mrpt::graphs::CNetworkOfPoses::nodes, so
29  * if a node appears in "edges" but not in "nodes" it will be not displayed.
30  *
31  * \param g The graph
32  * \param extra_params An extra set of optional parameters (see below).
33  * List of accepted extra parameters (note that all are double values, booleans
34  *are emulated with 0 & !=0 values):
35  *
36  * <table align="center" >
37  * <tr> <td align="center" ><b>Parameter name</b></td> <td align="center" >
38  *<b>Description</b> </td> <td align="center" ><b>Default value</b></td> </tr>
39  * <tr>
40  * <td align="center" ><code> show_ID_labels </code></td>
41  * <td> If set to !=0, show poses ID labels </td>
42  * <td align="center" > 0 (don't show) </td>
43  * </tr>
44  * <tr>
45  * <td align="center" ><code> show_ground_grid </code></td>
46  * <td> If set to !=0, create a gray grid on the ground level
47  *(mrpt::opengl::CGridPlaneXY). The extension of the grid is computed to cover
48  *the entire graph extension </td>
49  * <td align="center" > 1 (do show) </td>
50  * </tr>
51  * <tr>
52  * <td align="center" ><code> show_edges </code></td>
53  * <td> If set to !=0, draw lines between nodes with at least one edge
54  *between them. </td>
55  * <td align="center" > 1 (do show) </td>
56  * </tr>
57  * <tr>
58  * <td align="center" ><code> show_node_corners </code></td>
59  * <td> If set to !=0, draw a small 3D corner frame at each node (see
60  *mrpt::opengl::stock_objects::CornerXYZSimple). </td>
61  * <td align="center" > 1 (do show) </td>
62  * </tr>
63  * <tr>
64  * <td align="center" ><code> show_edge_rel_poses </code></td>
65  * <td> If set to !=0, draw the relative poses stored in each edge as a
66  *small extra 3D corner frame at each node pose (+) the edge pose (see
67  *mrpt::opengl::stock_objects::CornerXYZSimple). </td>
68  * <td align="center" > 1 (do show) </td>
69  * </tr>
70  * <tr>
71  * <td align="center" ><code> nodes_point_size </code></td>
72  * <td> If set to !=0, draw a point of the given size (glPointSize) at
73  *each node.</td>
74  * <td align="center" > 0 (no points) </td>
75  * </tr>
76  *
77  * <tr>
78  * <td align="center" ><code> nodes_corner_scale </code></td>
79  * <td> If show_node_corners!=0, the size (length) of te corner lines.
80  *</td>
81  * <td align="center" > 0.7 </td>
82  * </tr>
83  * <tr>
84  * <td align="center" ><code> nodes_edges_corner_scale </code></td>
85  * <td> If show_edge_rel_poses is !=0, the size of the corners at the
86  *end of each drawn edge.</td>
87  * <td align="center" > 0.4 </td>
88  * </tr>
89  * <tr>
90  * <td align="center" ><code> nodes_point_color </code></td>
91  * <td> If nodes_point_size!=0, set this value to a hexadecimal int
92  *value 0xRRGGBB with the desired RGB color of points.</td>
93  * <td align="center" > 0xA0A0A0 (light gray) </td>
94  * </tr>
95  * <tr>
96  * <td align="center" ><code> edge_color </code></td>
97  * <td> If show_edges is !=0, the color of those edges as a
98  *hexadecimal int value 0xAARRGGBB with Alpha+RGB color
99  *(Alpha=0xFF:opaque,0x00:transparent).</td>
100  * <td align="center" > 0x400000FF </td>
101  * </tr>
102  *
103  * <tr>
104  * <td align="center" ><code> edge_rel_poses_color </code></td>
105  * <td> If show_edge_rel_poses is !=0, the color of those edges as a
106  *hexadecimal int value 0xAARRGGBB with Alpha+RGB color
107  *(Alpha=0xFF:opaque,0x00:transparent).</td>
108  * <td align="center" > 0x40FF8000 </td>
109  * </tr>
110  * <tr>
111  * <td align="center" ><code> edge_width </code></td>
112  * <td> If show_edges is !=0, the width of edge lines.</td>
113  * <td align="center" > 2.0 </td>
114  * </tr>
115  *
116  * </table>
117  *
118  * \sa mrpt::graphs::CNetworkOfPoses2D, mrpt::graphs::CNetworkOfPoses3D,
119  *mrpt::graphs::CNetworkOfPoses2DInf, mrpt::graphs::CNetworkOfPoses3DInf
120  * \note Implemented as headers-only in \a graph_tools_impl.h
121  * \ingroup mrpt_opengl_grp
122  */
123 template <class GRAPH_T>
125  const GRAPH_T& g, const mrpt::system::TParametersDouble& extra_params =
127 
128 /** @} */
129 } // namespace graph_tools
130 } // namespace opengl
131 
132 } // namespace mrpt
133 
134 #include "graph_tools_impl.h"
GLubyte g
Definition: glext.h:6372
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
CSetOfObjects::Ptr graph_visualize(const GRAPH_T &g, const mrpt::system::TParametersDouble &extra_params=mrpt::system::TParametersDouble())
Returns an opengl objects representation of an arbitrary graph, as a network of 3D pose frames...



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