CGridPlaneXZ.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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_CGridPlaneXZ_H
#define opengl_CGridPlaneXZ_H
 
#include <mrpt/opengl/CRenderizableDisplayList.h>
 
namespace mrpt
{
namespace opengl
{
/** A grid of lines over the XZ plane.
  *  \sa opengl::COpenGLScene
  *
  *  <div align="center">
  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
  *   <tr> <td> mrpt::opengl::CGridPlaneXZ </td> <td> \image html
 * preview_CGridPlaneXZ.png </td> </tr>
  *  </table>
  *  </div>
  *
  * \ingroup mrpt_opengl_grp
  */
class CGridPlaneXZ : public CRenderizableDisplayList
{
        DEFINE_SERIALIZABLE(CGridPlaneXZ)
 
   protected:
        float m_xMin, m_xMax;
        float m_zMin, m_zMax;
        float m_plane_y;
        float m_frequency;
        float m_lineWidth;
        bool m_antiAliasing;
 
   public:
        void setLineWidth(float w)
        {
                m_lineWidth = w;
                CRenderizableDisplayList::notifyChange();
        }
        float getLineWidth() const { return m_lineWidth; }
        void enableAntiAliasing(bool enable = true)
        {
                m_antiAliasing = enable;
                CRenderizableDisplayList::notifyChange();
        }
        bool isAntiAliasingEnabled() const { return m_antiAliasing; }
        void setPlaneLimits(float xmin, float xmax, float zmin, float zmax)
        {
                m_xMin = xmin;
                m_xMax = xmax;
                m_zMin = zmin;
                m_zMax = zmax;
                CRenderizableDisplayList::notifyChange();
        }
 
        void getPlaneLimits(
                float& xmin, float& xmax, float& zmin, float& zmax) const
        {
                xmin = m_xMin;
                xmax = m_xMax;
                zmin = m_zMin;
                zmax = m_zMax;
        }
 
        void setPlaneYcoord(float y)
        {
                m_plane_y = y;
                CRenderizableDisplayList::notifyChange();
        }
        float getPlaneYcoord() const { return m_plane_y; }
        void setGridFrequency(float freq)
        {
                ASSERT_(freq > 0);
                m_frequency = freq;
                CRenderizableDisplayList::notifyChange();
        }
        float getGridFrequency() const { return m_frequency; }
        /** Class factory  */
        static CGridPlaneXZ::Ptr Create(
                float xMin = -10, float xMax = 10, float zMin = -10, float zMax = 10,
                float y = 0, float frequency = 1, float lineWidth = 1.3f,
                bool antiAliasing = true);
 
        /** 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 */
        CGridPlaneXZ(
                float xMin = -10, float xMax = 10, float zMin = -10, float zMax = 10,
                float y = 0, float frequency = 1, float lineWidth = 1.3f,
                bool antiAliasing = true);
        /** Private, virtual destructor: only can be deleted from smart pointers */
        virtual ~CGridPlaneXZ() {}
};
 
}  // end namespace
 
}  // End of namespace
 
#endif