CAxis.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 opengl_CAxis_H
#define opengl_CAxis_H
 
#include <mrpt/opengl/CRenderizableDisplayList.h>
 
namespace mrpt
{
namespace opengl
{
/** Draw a 3D world axis, with coordinate marks at some regular interval
  *  \sa opengl::COpenGLScene
  *
  *  <div align="center">
  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
  *  <tr> <td> mrpt::opengl::CAxis </td> <td> \image html preview_CAxis.png
 * </td> </tr>
  *  </table>
  *  </div>
  *
  * \ingroup mrpt_opengl_grp
  */
class CAxis : public CRenderizableDisplayList
{
        DEFINE_SERIALIZABLE(CAxis)
   protected:
        float m_xmin, m_ymin, m_zmin;
        float m_xmax, m_ymax, m_zmax;
        float m_frequency;
        float m_lineWidth;
        /** draw marks for X,Y,Z */
        bool m_marks[3];
        float m_textScale;
        float m_textRot[3][3];  // {x,y,z},{yaw,pitch,roll}
 
   public:
        void setAxisLimits(
                float xmin, float ymin, float zmin, float xmax, float ymax, float zmax);
        /** Changes the frequency of the "ticks" */
        void setFrequency(float f);
        float getFrequency() const;
        void setLineWidth(float w);
        float getLineWidth() const;
        /** Changes the size of text labels (default:0.25) */
        void setTextScale(float f);
        float getTextScale() const;
        /** axis: {0,1,2}=>{X,Y,Z} */
        void setTextLabelOrientation(
                int axis, float yaw_deg, float pitch_deg, float roll_deg);
        /** axis: {0,1,2}=>{X,Y,Z} */
        void getTextLabelOrientation(
                int axis, float& yaw_deg, float& pitch_deg, float& roll_deg) const;
 
        void enableTickMarks(bool v = true);
        void enableTickMarks(bool show_x, bool show_y, bool show_z);
 
        /** Class factory  */
        static CAxis::Ptr Create(
                float xmin, float ymin, float zmin, float xmax, float ymax, float zmax,
                float frecuency = 1, float lineWidth = 3, bool marks = false);
 
        /** Render */
        void render_dl() const override;
 
        /** Evaluates the bounding box of this object (including possible children)
         * in the coordinate frame of the object parent. */
        void getBoundingBox(
                mrpt::math::TPoint3D& bb_min,
                mrpt::math::TPoint3D& bb_max) const override;
 
        /** Constructor */
        CAxis(
                float xmin = -1.0f, float ymin = -1.0f, float zmin = -1.0f,
                float xmax = 1.0f, float ymax = 1.0f, float zmax = 1.0f,
                float frecuency = 0.25f, float lineWidth = 3.0f, bool marks = false);
 
        /** Private, virtual destructor: only can be deleted from smart pointers */
        virtual ~CAxis() {}
};
 
}  // end namespace
}  // End of namespace
 
#endif