graph_tools.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_graph_tools_H
#define opengl_graph_tools_H
 
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/system/TParameters.h>
 
namespace mrpt
{
/** \ingroup mrpt_opengl_grp */
namespace opengl
{
/** Tool functions for graphs of pose constraints. \ingroup mrpt_opengl_grp  */
namespace graph_tools
{
/** @name Tool functions for graphs of pose constraints
        @{ */
 
/** Returns an opengl objects representation of an arbitrary graph, as a network
  *of 3D pose frames.
  *  Note that the "global" coordinates of each node are taken from
  *mrpt::graphs::CNetworkOfPoses::nodes, so
  *   if a node appears in "edges" but not in "nodes" it will be not displayed.
  *
  *  \param g             The graph
  *  \param extra_params  An extra set of optional parameters (see below).
  * List of accepted extra parameters (note that all are double values, booleans
  *are emulated with 0 & !=0 values):
  *
  *   <table align="center" >
  *   <tr> <td align="center" ><b>Parameter name</b></td> <td align="center" >
  *<b>Description</b> </td> <td align="center" ><b>Default value</b></td> </tr>
  *   <tr>
  *        <td align="center" ><code> show_ID_labels </code></td>
  *        <td> If set to !=0, show poses ID labels </td>
  *        <td align="center" > 0 (don't show) </td>
  *   </tr>
  *   <tr>
  *        <td align="center" ><code> show_ground_grid </code></td>
  *        <td> If set to !=0, create a gray grid on the ground level
  *(mrpt::opengl::CGridPlaneXY). The extension of the grid is computed to cover
  *the entire graph extension </td>
  *        <td align="center" > 1 (do show) </td>
  *   </tr>
  *   <tr>
  *        <td align="center" ><code> show_edges </code></td>
  *        <td> If set to !=0, draw lines between nodes with at least one edge
  *between them. </td>
  *        <td align="center" > 1 (do show) </td>
  *   </tr>
        *   <tr>
        *        <td align="center" ><code> show_node_corners </code></td>
        *        <td> If set to !=0, draw a small 3D corner frame at each node (see
  *mrpt::opengl::stock_objects::CornerXYZSimple). </td>
        *        <td align="center" > 1 (do show) </td>
  *   </tr>
  *   <tr>
  *        <td align="center" ><code> show_edge_rel_poses </code></td>
  *        <td> If set to !=0, draw the relative poses stored in each edge as a
  *small extra 3D corner frame at each node pose (+) the edge pose (see
  *mrpt::opengl::stock_objects::CornerXYZSimple). </td>
  *        <td align="center" > 1 (do show) </td>
  *   </tr>
  *   <tr>
  *        <td align="center" ><code> nodes_point_size </code></td>
  *        <td> If set to !=0, draw a point of the given size (glPointSize) at
  *each node.</td>
  *        <td align="center" > 0 (no points) </td>
  *   </tr>
        *
        *   <tr>
        *        <td align="center" ><code> nodes_corner_scale </code></td>
        *        <td> If show_node_corners!=0, the size (length) of te corner lines.
  *</td>
        *        <td align="center" > 0.7 </td>
  *   </tr>
  *   <tr>
  *        <td align="center" ><code> nodes_edges_corner_scale </code></td>
  *        <td> If show_edge_rel_poses is !=0, the size of the corners at the
  *end of each drawn edge.</td>
  *        <td align="center" > 0.4 </td>
  *   </tr>
  *   <tr>
  *        <td align="center" ><code> nodes_point_color </code></td>
  *        <td> If nodes_point_size!=0, set this value to a hexadecimal int
  *value 0xRRGGBB with the desired RGB color of points.</td>
  *        <td align="center" > 0xA0A0A0 (light gray) </td>
  *   </tr>
  *   <tr>
        *        <td align="center" ><code> edge_color </code></td>
        *        <td> If show_edges is !=0, the color of those edges as a
  *hexadecimal int value 0xAARRGGBB with Alpha+RGB color
  *(Alpha=0xFF:opaque,0x00:transparent).</td>
        *        <td align="center" > 0x400000FF </td>
  *   </tr>
        *
  *   <tr>
  *        <td align="center" ><code> edge_rel_poses_color </code></td>
  *        <td> If show_edge_rel_poses is !=0, the color of those edges as a
  *hexadecimal int value 0xAARRGGBB with Alpha+RGB color
  *(Alpha=0xFF:opaque,0x00:transparent).</td>
  *        <td align="center" > 0x40FF8000 </td>
  *   </tr>
  *   <tr>
  *        <td align="center" ><code> edge_width </code></td>
  *        <td> If show_edges is !=0, the width of edge lines.</td>
  *        <td align="center" > 2.0 </td>
  *   </tr>
        *
  *       </table>
  *
  * \sa mrpt::graphs::CNetworkOfPoses2D, mrpt::graphs::CNetworkOfPoses3D,
  *mrpt::graphs::CNetworkOfPoses2DInf, mrpt::graphs::CNetworkOfPoses3DInf
  * \note Implemented as headers-only in \a graph_tools_impl.h
  * \ingroup mrpt_opengl_grp
  */
template <class GRAPH_T>
CSetOfObjects::Ptr graph_visualize(
        const GRAPH_T& g, const mrpt::system::TParametersDouble& extra_params =
                                                  mrpt::system::TParametersDouble());
 
/** @} */
}
}
 
}  // End of namespace
 
#include "graph_tools_impl.h"
 
#endif