CSetOfObjects.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 |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/opengl/CRenderizable.h>
#include <mrpt/poses/poses_frwds.h>  // All these are needed for the auxiliary methods posePDF2opengl()
 
namespace mrpt
{
namespace opengl
{
/** A set of object, which are referenced to the coordinates framework
 *established in this object.
 *  It can be established a hierarchy of "CSetOfObjects", where the coordinates
 *framework of each
 *   one will be referenced to the parent's one.
 *      The list of child objects is accessed directly as in the class
 *"COpenGLScene"
 *  \sa opengl::COpenGLScene
 * \ingroup mrpt_opengl_grp
 */
class CSetOfObjects : public CRenderizable
{
        DEFINE_SERIALIZABLE(CSetOfObjects)
 
   protected:
        /** The list of child objects.
         *  Objects are automatically deleted when calling "clear" or in the
         * destructor.
         */
        CListOpenGLObjects m_objects;
 
   public:
        using const_iterator = CListOpenGLObjects::const_iterator;
        using iterator = CListOpenGLObjects::iterator;
 
        inline const_iterator begin() const { return m_objects.begin(); }
        inline const_iterator end() const { return m_objects.end(); }
        inline iterator begin() { return m_objects.begin(); }
        inline iterator end() { return m_objects.end(); }
        /** Inserts a set of objects into the list.
         */
        template <class T>
        inline void insertCollection(const T& objs)
        {
                insert(objs.begin(), objs.end());
        }
        /** Insert a new object to the list.
         */
        void insert(const CRenderizable::Ptr& newObject);
 
        /** Inserts a set of objects, bounded by iterators, into the list.
         */
        template <class T_it>
        inline void insert(const T_it& begin, const T_it& end)
        {
                for (T_it it = begin; it != end; it++) insert(*it);
        }
 
        /** Render child objects.
         */
        void render() const override;
 
        /** Clear the list of objects in the scene, deleting objects' memory.
         */
        void clear();
 
        /** Returns number of objects.  */
        size_t size() { return m_objects.size(); }
        /** Returns true if there are no objects.  */
        inline bool empty() const { return m_objects.empty(); }
        /** Initializes all textures in the scene (See
         * opengl::CTexturedPlane::loadTextureInOpenGL)
         */
        void initializeAllTextures();
 
        /** Returns the first object with a given name, or a nullptr pointer if not
         * found.
         */
        CRenderizable::Ptr getByName(const std::string& str);
 
        /** Returns the i'th object of a given class (or of a descendant class), or
          nullptr (an empty smart pointer) if not found.
          *  Example:
          * \code
                   CSphere::Ptr obs = myscene.getByClass<CSphere>();
          * \endcode
          * By default (ith=0), the first observation is returned.
          */
        template <typename T>
        typename T::Ptr getByClass(const size_t& ith = 0) const;
 
        /** Removes the given object from the scene (it also deletes the object to
         * free its memory).
         */
        void removeObject(const CRenderizable::Ptr& obj);
 
        /** Retrieves a list of all objects in text form  */
        void dumpListOfObjects(std::vector<std::string>& lst);
 
        virtual bool traceRay(
                const mrpt::poses::CPose3D& o, double& dist) const override;
 
        virtual CRenderizable& setColor_u8(const mrpt::img::TColor& c) override;
        virtual CRenderizable& setColorR_u8(const uint8_t r) override;
        virtual CRenderizable& setColorG_u8(const uint8_t g) override;
        virtual CRenderizable& setColorB_u8(const uint8_t b) override;
        virtual CRenderizable& setColorA_u8(const uint8_t a) override;
        bool contains(const CRenderizable::Ptr& obj) const;
        virtual void getBoundingBox(
                mrpt::math::TPoint3D& bb_min,
                mrpt::math::TPoint3D& bb_max) const override;
 
        /** @name pose_pdf -> 3d objects auxiliary templates
                @{ */
        // The reason this code is here is to exploit C++'s "T::template function()"
        // in order to
        //  define the members getAs3DObject() in several classes in mrpt-base with
        //  its argument
        //  being a class (CSetOfObjects) which is actually declared here, in
        //  mrpt-opengl.
        //  Implementations are in "pose_pdfs.cpp", not in "CSetOfObjects" (historic
        //  reasons...)
 
        /** Returns a representation of a the PDF - this is just an auxiliary
         * function, it's more natural to call
         *    mrpt::poses::CPosePDF::getAs3DObject     */
        static CSetOfObjects::Ptr posePDF2opengl(const mrpt::poses::CPosePDF& o);
 
        /** Returns a representation of a the PDF - this is just an auxiliary
         * function, it's more natural to call
         *    mrpt::poses::CPointPDF::getAs3DObject     */
        static CSetOfObjects::Ptr posePDF2opengl(const mrpt::poses::CPointPDF& o);
 
        /** Returns a representation of a the PDF - this is just an auxiliary
         * function, it's more natural to call
         *    mrpt::poses::CPose3DPDF::getAs3DObject     */
        static CSetOfObjects::Ptr posePDF2opengl(const mrpt::poses::CPose3DPDF& o);
 
        /** Returns a representation of a the PDF - this is just an auxiliary
         * function, it's more natural to call
         *    mrpt::poses::CPose3DQuatPDF::getAs3DObject     */
        static CSetOfObjects::Ptr posePDF2opengl(
                const mrpt::poses::CPose3DQuatPDF& o);
 
        /** @} */
 
        /** Default constructor
         */
        CSetOfObjects();
 
        /** Private, virtual destructor: only can be deleted from smart pointers */
        virtual ~CSetOfObjects();
};
/** Inserts an object into the list. Allows call chaining.
 * \sa mrpt::opengl::CSetOfObjects::insert
 */
inline CSetOfObjects::Ptr& operator<<(
        CSetOfObjects::Ptr& s, const CRenderizable::Ptr& r)
{
        s->insert(r);
        return s;
}
/** Inserts a set of objects into the list. Allows call chaining.
 * \sa mrpt::opengl::CSetOfObjects::insert
 */
template <class T>
inline CSetOfObjects::Ptr& operator<<(
        CSetOfObjects::Ptr& o, const std::vector<T>& v)
{
        o->insertCollection(v);
        return o;
}
 
// Implementation: (here because it needs the _POST macro defining the
// Smart::Ptr)
template <typename T>
typename T::Ptr CSetOfObjects::getByClass(const size_t& ith) const
{
        MRPT_START
        size_t foundCount = 0;
        const auto class_ID = &T::GetRuntimeClassIdStatic();
        for (const auto& o : m_objects)
                if (o && o->GetRuntimeClass()->derivedFrom(class_ID))
                        if (foundCount++ == ith) return std::dynamic_pointer_cast<T>(o);
 
        // If not found directly, search recursively:
        for (const auto& o : m_objects)
        {
                if (o &&
                        o->GetRuntimeClass() ==
                                CLASS_ID_NAMESPACE(CSetOfObjects, mrpt::opengl))
                {
                        typename T::Ptr obj = std::dynamic_pointer_cast<CSetOfObjects>(o)
                                                                        ->template getByClass<T>(ith);
                        if (obj) return obj;
                }
        }
 
        return typename T::Ptr();  // Not found: return empty smart pointer
        MRPT_END
}
 
}  // namespace opengl
 
}  // namespace mrpt