class mrpt::viz::CCylinder

Overview

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

The cylinder extends along the +Z axis from z=0 to z=height.

If baseRadius == topRadius: regular cylinder
If baseRadius != topRadius: truncated cone (frustum)
If topRadius == 0: cone with apex at the top
If baseRadius == 0: inverted cone with apex at the bottom

See also:

#include <mrpt/viz/CCylinder.h>

class CCylinder:
    public mrpt::viz::CVisualObject,
    public mrpt::viz::VisualObjectParams_Triangles
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::viz ::CCylinder> Ptr;
    typedef std::shared_ptr<const mrpt::viz ::CCylinder> ConstPtr;
    typedef std::unique_ptr<mrpt::viz ::CCylinder> UniquePtr;
    typedef std::unique_ptr<const mrpt::viz ::CCylinder> ConstUniquePtr;

    // fields

    static constexpr const char* className = "mrpt::viz" "::" "CCylinder";

    // construction

    CCylinder();
    CCylinder(float baseRadius, float topRadius, float height = 1.0f, int slices = 20);

    // methods

    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;
    virtual mrpt::rtti::CObject* clone() const;
    void setRadius(float radius);
    void setRadii(float bottom, float top);
    void setHeight(float height);
    float getBottomRadius() const;
    float getTopRadius() const;
    float getHeight() const;
    void setSlicesCount(uint32_t slices);
    uint32_t getSlicesCount() const;
    void setHasBases(bool top = true, bool bottom = true);
    bool hasTopBase() const;
    bool hasBottomBase() const;
    virtual bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const;
    virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const;
    virtual void updateBuffers() const;
};

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef std::shared_ptr<CVisualObject> Ptr;
    typedef std::shared_ptr<const CVisualObject> ConstPtr;
    typedef std::unique_ptr<CObject> UniquePtr;
    typedef std::unique_ptr<const CObject> ConstUniquePtr;

    // structs

    struct PoseAndScale;
    struct State;

    // methods

    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    const auto& shaderTrianglesBuffer() const;
    auto& shaderTrianglesBufferMutex() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    PoseAndScale getPoseAndScale() const;
    virtual CVisualObject& setColor_u8(const mrpt::img::TColor& c);
    bool isLightEnabled() const;
    void enableLight(bool enable = true);
    TCullFace cullFaces() const;
    void notifyBBoxChange() const;
    auto getBoundingBoxLocalf() const;

Typedefs

typedef std::shared_ptr<mrpt::viz ::CCylinder> Ptr

A type for the associated smart pointer.

Construction

CCylinder()

Default constructor: unit cylinder.

CCylinder(
    float baseRadius,
    float topRadius,
    float height = 1.0f,
    int slices = 20
    )

Constructor with parameters.

Parameters:

baseRadius	Radius at z=0
topRadius	Radius at z=height
height	Height of the cylinder (along +Z)
slices	Number of radial divisions (higher = smoother)

Methods

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

Returns information about the class of an object in runtime.

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

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

void setRadius(float radius)

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

See also:

setRadii

void setRadii(float bottom, float top)

Sets both radii independently.

See also:

setRadius

void setHeight(float height)

Changes cylinder’s height.

float getBottomRadius() const

Gets the bottom radius.

float getTopRadius() const

Gets the top radius.

float getHeight() const

Gets the cylinder’s height.

void setSlicesCount(uint32_t slices)

Number of radial divisions (affects mesh smoothness)

uint32_t getSlicesCount() const

Returns the number of radial divisions.

void setHasBases(bool top = true, bool bottom = true)

Configuration of the cylinder’s bases display.

Parameters:

top	Whether to draw the top cap
bottom	Whether to draw the bottom cap

bool hasTopBase() const

Check whether top base is displayed.

See also:

hasBottomBase

bool hasBottomBase() const

Check whether bottom base is displayed.

See also:

hasTopBase

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

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

virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const

Must be implemented by derived classes to provide the updated bounding box in the object local frame of coordinates.

This will be called only once after each time the derived class reports to notifyChange() that the object geometry changed.

virtual void updateBuffers() const

Updates the internal triangle buffer for rendering.

Generates the triangulated mesh for the lateral surface and optional top/bottom caps.