mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > Class Template Reference

Detailed Description

template<class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS = mrpt::graphs::detail::TMRSlamNodeAnnotations, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
class mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >

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.

Definition at line 41 of file CMRVisualizer.h.

#include <mrpt/graphs/CMRVisualizer.h>

Inheritance diagram for mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >:

Public Types
using	parent = CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >
using	GRAPH_T = mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >

Public Member Functions
	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
virtual void	getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &object, mrpt::system::TParametersDouble viz_params) const
	Common visualization stuff for all derived classes. More...

Protected Member Functions
Work-splitting methods
Smaller functions that do add very specific parts to the visual representation Following functions take an optional TParametersDouble instance containing visualization parameters
virtual void	drawGroundGrid (mrpt::opengl::CSetOfObjects::Ptr &object, const mrpt::system::TParametersDouble *viz_params=NULL) const
virtual void	drawNodeCorners (mrpt::opengl::CSetOfObjects::Ptr &object, const mrpt::system::TParametersDouble *viz_params=NULL) const
virtual void	drawEdgeRelPoses (mrpt::opengl::CSetOfObjects::Ptr &object, const mrpt::system::TParametersDouble *viz_params=NULL) const

Protected Attributes
bool	m_is_3D_graph
const GRAPH_T &	m_graph

Member Typedef Documentation

GRAPH_T

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS = mrpt::graphs::detail::TMRSlamNodeAnnotations, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>

using mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::GRAPH_T = mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>

Definition at line 49 of file CMRVisualizer.h.

parent

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS = mrpt::graphs::detail::TMRSlamNodeAnnotations, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>

using mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::parent = CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>

Definition at line 47 of file CMRVisualizer.h.

Constructor & Destructor Documentation

CMRVisualizer()

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >

mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::CMRVisualizer

(

const GRAPH_T &

graph_in

)

Definition at line 27 of file CMRVisualizer_impl.h.

References THROW_EXCEPTION.

~CMRVisualizer()

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >

mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::~CMRVisualizer

Definition at line 40 of file CMRVisualizer_impl.h.

Member Function Documentation

drawEdgeRelPoses()

void mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, mrpt::graphs::detail::TMRSlamNodeAnnotations , mrpt::graphs::detail::edge_annotations_empty >::drawEdgeRelPoses ( mrpt::opengl::CSetOfObjects::Ptr &  object, const mrpt::system::TParametersDouble *  viz_params = NULL  ) const

protectedvirtualinherited

Definition at line 211 of file CVisualizer_impl.h.

drawEdges()

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >

void mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::drawEdges ( mrpt::opengl::CSetOfObjects::Ptr &  object, const mrpt::system::TParametersDouble *  viz_params = NULL  ) const

virtual

Reimplemented from mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, mrpt::graphs::detail::TMRSlamNodeAnnotations, mrpt::graphs::detail::edge_annotations_empty >.

Definition at line 58 of file CMRVisualizer_impl.h.

drawGroundGrid()

void mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, mrpt::graphs::detail::TMRSlamNodeAnnotations , mrpt::graphs::detail::edge_annotations_empty >::drawGroundGrid ( mrpt::opengl::CSetOfObjects::Ptr &  object, const mrpt::system::TParametersDouble *  viz_params = NULL  ) const

protectedvirtualinherited

Definition at line 92 of file CVisualizer_impl.h.

drawNodeCorners()

void mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, mrpt::graphs::detail::TMRSlamNodeAnnotations , mrpt::graphs::detail::edge_annotations_empty >::drawNodeCorners ( mrpt::opengl::CSetOfObjects::Ptr &  object, const mrpt::system::TParametersDouble *  viz_params = NULL  ) const

protectedvirtualinherited

Definition at line 166 of file CVisualizer_impl.h.

drawNodePoints()

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >

void mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::drawNodePoints ( mrpt::opengl::CSetOfObjects::Ptr &  object, const mrpt::system::TParametersDouble *  viz_params = NULL  ) const

virtual

Reimplemented from mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, mrpt::graphs::detail::TMRSlamNodeAnnotations, mrpt::graphs::detail::edge_annotations_empty >.

Definition at line 48 of file CMRVisualizer_impl.h.

getAs3DObject()

void mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, mrpt::graphs::detail::TMRSlamNodeAnnotations , mrpt::graphs::detail::edge_annotations_empty >::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr &  object, mrpt::system::TParametersDouble  viz_params  ) const

virtualinherited

Common visualization stuff for all derived classes.

Function delegates visualization tasks to the draw* methods according to the user preferences

Definition at line 43 of file CVisualizer_impl.h.

Member Data Documentation

m_graph

const GRAPH_T& mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, mrpt::graphs::detail::TMRSlamNodeAnnotations , mrpt::graphs::detail::edge_annotations_empty >::m_graph

protectedinherited

Definition at line 89 of file CVisualizer.h.

m_is_3D_graph

bool mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, mrpt::graphs::detail::TMRSlamNodeAnnotations , mrpt::graphs::detail::edge_annotations_empty >::m_is_3D_graph

protectedinherited

Definition at line 88 of file CVisualizer.h.