CSetOfLines.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */

#ifndef opengl_CSetOfLines_H
#define opengl_CSetOfLines_H

#include <mrpt/opengl/CRenderizableDisplayList.h>
#include <mrpt/math/lightweight_geom_data.h>
#include <mrpt/utils/stl_extensions.h>

namespace mrpt
{
        namespace opengl
        {
                using mrpt::math::TPoint3D;
                using mrpt::math::TSegment3D;
                class OPENGL_IMPEXP CSetOfLines;

                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CSetOfLines, CRenderizableDisplayList, OPENGL_IMPEXP )

                /** A set of independent lines (or segments), one line with its own start and end positions (X,Y,Z).
                  *  \sa opengl::COpenGLScene
                  *  
                  *  <div align="center">
                  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
                  *   <tr> <td> mrpt::opengl::CSetOfLines </td> <td> \image html preview_CSetOfLines.png </td> </tr>
                  *  </table>
                  *  </div>
                  *  
                  * \ingroup mrpt_opengl_grp
                  */
                class OPENGL_IMPEXP CSetOfLines : public CRenderizableDisplayList
                {
                        DEFINE_SERIALIZABLE( CSetOfLines )
                protected:
                        std::vector<TSegment3D> mSegments;
            float                       mLineWidth;

                public:
                        /**
                          * Clear the list of segments
                          */
                        inline void clear()     {
                                mSegments.clear();
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Sets the width with which lines will be drawn.
                          */
                        inline void setLineWidth(float w) {
                                mLineWidth=w;
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Gets the width with which lines are drawn.
                          */
                        float getLineWidth() const {
                                return mLineWidth;
                        }
                        /**
                          * Appends a line to the set.
                          */
                        inline void appendLine(const mrpt::math::TSegment3D &sgm)       {
                                mSegments.push_back(sgm);
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Appends a line to the set, given the coordinates of its bounds.
                          */
                        inline void appendLine(float x0,float y0,float z0,float x1,float y1,float z1)   {
                                appendLine(TSegment3D(TPoint3D(x0,y0,z0),TPoint3D(x1,y1,z1)));
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Appends any iterable collection of lines to the set. Note that this includes another CSetOfLines.
                          * \sa appendLine
                          */
                        template<class T> inline void appendLines(const T &sgms)        {
                                mSegments.insert(mSegments.end(),sgms.begin(),sgms.end());
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Appends certain amount of lines, located between two iterators, into the set.
                          * \sa appendLine
                          */
                        template<class T_it> inline void appendLines(const T_it &begin,const T_it &end) {
                                mSegments.reserve(mSegments.size()+(end-begin));
                                mSegments.insert(mSegments.end(),begin,end);
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Resizes the set.
                          * \sa reserve
                          */
                        void resize(size_t nLines)      {
                                mSegments.resize(nLines);
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Reserves an amount of lines to the set. This method should be used when some known amount of lines is going to be inserted, so that only a memory allocation is needed.
                          * \sa resize
                          */
                        void reserve(size_t r)  {
                                mSegments.reserve(r);
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Inserts a line, given its bounds. Works with any pair of objects with access to x, y and z members.
                          */
                        template<class T,class U> inline void appendLine(T p0,U p1)     {
                                appendLine(p0.x,p0.y,p0.z,p1.x,p1.y,p1.z);
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Returns the total count of lines in this set.
                          */
                        inline size_t getLineCount() const      {
                                return mSegments.size();
                        }
                        /**
                          * Sets a specific line in the set, given its index.
                          * \sa appendLine
                          */
                        void setLineByIndex(size_t index,const TSegment3D &segm);
                        /**
                          * Sets a specific line in the set, given its index.
                          * \sa appendLine
                          */
                        inline void setLineByIndex(size_t index,double x0,double y0,double z0,double x1,double y1,double z1)    {
                                setLineByIndex(index,TSegment3D(TPoint3D(x0,y0,z0),TPoint3D(x1,y1,z1)));
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Gets a specific line in the set, given its index.
                          * \sa getLineByIndex
                          */
                        inline void getLineByIndex(size_t index,double &x0,double &y0,double &z0,double &x1,double &y1,double &z1) const        {
                                ASSERT_(index<mSegments.size())
                                x0 = mSegments[index].point1.x;
                                y0 = mSegments[index].point1.y;
                                z0 = mSegments[index].point1.z;
                                x1 = mSegments[index].point2.x;
                                y1 = mSegments[index].point2.y;
                                z1 = mSegments[index].point2.z;
                        }
                        /**
                          * Class factory
                          */
                        inline static CSetOfLinesPtr Create(const std::vector<TSegment3D> &sgms)        {
                                return CSetOfLinesPtr(new CSetOfLines(sgms));
                        }
                        /** Render
                          */
                        void  render_dl() const;

                        //Iterator management
                        typedef std::vector<TSegment3D>::iterator iterator;     //!< Iterator to the set.
                        typedef std::vector<TSegment3D>::reverse_iterator reverse_iterator;     //!< Iterator to the set.

                        /**
                          * Const iterator to the set.
                          */
                        typedef std::vector<TSegment3D>::const_iterator const_iterator;
                        /**
                          * Const reverse iterator to the set.
                          */
                        typedef std::vector<TSegment3D>::const_reverse_iterator const_reverse_iterator;
                        /**
                          * Beginning const iterator.
                          * \sa end,rbegin,rend
                          */
                        inline const_iterator begin() const     {
                                return mSegments.begin();
                        }
                        inline iterator begin() { CRenderizableDisplayList::notifyChange();  return mSegments.begin(); }
                        /**
                          * Ending const iterator.
                          * \sa begin,rend,rbegin
                          */
                        inline const_iterator end() const       {
                                return mSegments.end();
                        }
                        inline iterator end() { CRenderizableDisplayList::notifyChange(); return mSegments.end(); }
                        /**
                          * Beginning const reverse iterator (actually, accesses the end of the set).
                          * \sa rend,begin,end
                          */
                        inline const_reverse_iterator rbegin() const    {
                                return mSegments.rbegin();
                        }
                        /**
                          * Ending const reverse iterator (actually, refers to the starting point of the set).
                          * \sa rbegin,end,begin
                          */
                        inline const_reverse_iterator rend() const      {
                                return mSegments.rend();
                        }

                private:
                        /** Constructor
                          */
                        CSetOfLines():mSegments(),mLineWidth(1.0)       {}
                        /**
                          * Constructor with a initial set of lines.
                          */
                        CSetOfLines(const std::vector<TSegment3D> &sgms):mSegments(sgms),mLineWidth(1.0)        {}
                        /**
                          * Private, virtual destructor: only can be deleted from smart pointers.
                          */
                        virtual ~CSetOfLines() { }
                };
                /** Inserts a set of segments into the list. Allows call chaining.
                  * \sa mrpt::opengl::CSetOfLines::appendLines
                  */
                template<class T> inline CSetOfLinesPtr &operator<<(CSetOfLinesPtr &l,const T &s)       {
                        l->appendLines(s.begin(),s.end());
                        return l;
                }
                /** Inserts a segment into the list. Allows call chaining.
                  * \sa mrpt::opengl::CSetOfLines::appendLine(const TSegment &)
                  */
                template<> inline CSetOfLinesPtr &operator<<(CSetOfLinesPtr &l,const mrpt::math::TSegment3D &s) {
                        l->appendLine(s);
                        return l;
                }
        } // end namespace

} // End of namespace


#endif