CMRVisualizer.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 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:
        using parent = CVisualizer<
                CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>;
        using GRAPH_T = mrpt::graphs::CNetworkOfPoses<
                CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>;
 
        CMRVisualizer(const GRAPH_T& graph_in);
 
        ~CMRVisualizer();
        void drawNodePoints(
                mrpt::opengl::CSetOfObjects::Ptr& object,
                const mrpt::system::TParametersDouble* viz_params = NULL) const;
        void drawEdges(
                mrpt::opengl::CSetOfObjects::Ptr& object,
                const mrpt::system::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:
        using parent = CVisualizer<
                CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS>;
        using GRAPH_T = mrpt::graphs::CNetworkOfPoses<
                CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS>;
 
        CMRVisualizer(const GRAPH_T& graph_in);
 
        ~CMRVisualizer();
        void drawNodePoints(
                mrpt::opengl::CSetOfObjects::Ptr& object,
                const mrpt::system::TParametersDouble* viz_params = NULL) const;
        void drawEdges(
                mrpt::opengl::CSetOfObjects::Ptr& object,
                const mrpt::system::TParametersDouble* viz_params = NULL) const;
 
   private:
};
}  // namespace detail
}  // namespace graphs
}  // namespace mrpt
 
#include <mrpt/graphs/CMRVisualizer_impl.h>
 
#endif /* end of include guard: CMRVISUALIZER_H */