Detailed Description

This object renders a 2D laser scan by means of three elements: the points, the line along end-points and the 2D scanned surface.

By default, all those three elements are drawn, but you can individually switch them on/off with:

To change the final result, more methods allow further customization of the 3D object (color of each element, etc.).

The scan is passed or updated through CPlanarLaserScan::setScan()

Note:: The laser points are projected at the sensor pose as given in the "scan" object, so this CPlanarLaserScan object should be placed at the exact pose of the robot coordinates origin.

See also:: mrpt::opengl::CPointCloud, opengl::COpenGLScene

#include <mrpt/opengl/CPlanarLaserScan.h>

Inheritance diagram for mrpt::opengl::CPlanarLaserScan:

[legend]

List of all members.

Public Member Functions
void	clear ()
	< Clear the scan
void	enablePoints (bool enable=true)
	Show or hides the scanned points.
void	enableLine (bool enable=true)
	Show or hides lines along all scanned points.
void	enableSurface (bool enable=true)
	Show or hides the scanned area as a 2D surface.
void	setLineWidth (float w)
float	getLineWidth () const
void	sePointsWidth (float w)
void	setLineColor (float R, float G, float B, float A=1.0f)
void	setPointsColor (float R, float G, float B, float A=1.0f)
void	setSurfaceColor (float R, float G, float B, float A=1.0f)
void	setScan (const mrpt::slam::CObservation2DRangeScan &scan)
void	render_dl () const
	Render.
CRenderizableDisplayList *	clone () const
	Interface for the stlplus smart pointer class.
virtual void	render () const
	Render the object, regenerating the display list if needed, otherwise just calling it.
virtual bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const
	Simulation of ray-trace, given a pose.
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
Changes the appearance of the object to render (methods from CRenderizable that need to be redefined)
virtual CRenderizable &	setColorR_u8 (const uint8_t r)
	Color components in the range [0,255].
virtual CRenderizable &	setColorG_u8 (const uint8_t g)
	Color components in the range [0,255].
virtual CRenderizable &	setColorB_u8 (const uint8_t b)
	Color components in the range [0,255].
virtual CRenderizable &	setColorA_u8 (const uint8_t a)
	Color components in the range [0,255].
virtual CRenderizable &	setColor_u8 (const mrpt::utils::TColor &c)
	Changes the default object color.
Changes the appearance of the object to render
CRenderizable &	setColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
	Set the color components of this object (R,G,B,Alpha, in the range 0-1)
void	setName (const std::string &n)
	Changes the name of the object.
const std::string &	getName () const
	Returns the name of the object.
bool	isVisible () const
	Is the object visible?
void	setVisibility (bool visible=true)
	Set object visibility (default=true)
void	enableShowName (bool showName=true)
	Enables or disables showing the name of the object as a label when rendering.
bool	isShowNameEnabled () const
CRenderizable &	setPose (const mrpt::poses::CPose3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
CRenderizable &	setPose (const mrpt::math::TPose3D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
CRenderizable &	setPose (const mrpt::poses::CPoint3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
CRenderizable &	setPose (const mrpt::poses::CPoint2D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
mrpt::math::TPose3D	getPose () const
	Returns the 3D pose of the object as TPose3D.
const mrpt::poses::CPose3D &	getPoseRef () const
	Returns a const ref to the 3D pose of the object as CPose3D (which explicitly contains the 3x3 rotation matrix)
CRenderizable &	setLocation (double x, double y, double z)
	Changes the location of the object, keeping untouched the orientation.
CRenderizable &	setLocation (const mrpt::math::TPoint3D &p)
	Changes the location of the object, keeping untouched the orientation.
double	getPoseX () const
	Translation relative to parent coordinate origin.
double	getPoseY () const
	Translation relative to parent coordinate origin.
double	getPoseZ () const
	Translation relative to parent coordinate origin.
double	getPoseYaw () const
	Rotation relative to parent coordinate origin, in DEGREES.
double	getPosePitch () const
	Rotation relative to parent coordinate origin, in DEGREES.
double	getPoseRoll () const
	Rotation relative to parent coordinate origin, in DEGREES.
double	getPoseYawRad () const
	Rotation relative to parent coordinate origin, in radians.
double	getPosePitchRad () const
	Rotation relative to parent coordinate origin, in radians.
double	getPoseRollRad () const
	Rotation relative to parent coordinate origin, in radians.
double	getColorR () const
	Color components in the range [0,1].
double	getColorG () const
	Color components in the range [0,1].
double	getColorB () const
	Color components in the range [0,1].
double	getColorA () const
	Color components in the range [0,1].
uint8_t	getColorR_u8 () const
	Color components in the range [0,255].
uint8_t	getColorG_u8 () const
	Color components in the range [0,255].
uint8_t	getColorB_u8 () const
	Color components in the range [0,255].
uint8_t	getColorA_u8 () const
	Color components in the range [0,255].
CRenderizable &	setColorR (const double r)
	Color components in the range [0,1].
CRenderizable &	setColorG (const double g)
	Color components in the range [0,1].
CRenderizable &	setColorB (const double b)
	Color components in the range [0,1].
CRenderizable &	setColorA (const double a)
	Color components in the range [0,1].
CRenderizable &	setScale (float s)
	Scale to apply to the object, in all three axes (default=1)
CRenderizable &	setScale (float sx, float sy, float sz)
	Scale to apply to the object in each axis (default=1)
float	getScaleX () const
	Get the current scaling factor in one axis.
float	getScaleY () const
	Get the current scaling factor in one axis.
float	getScaleZ () const
	Get the current scaling factor in one axis.
mrpt::utils::TColorf	getColor () const
	Returns the object color property as a TColorf.
CRenderizable &	setColor (const mrpt::utils::TColorf &c)
CRenderizable &	setColor (double R, double G, double B, double A=1)
	Set the color components of this object (R,G,B,Alpha, in the range 0-1)
const mrpt::utils::TColor &	getColor_u8 () const
	Returns the object color property as a TColor.
Static Public Member Functions
static void	renderTextBitmap (const char str, void fontStyle)
	This method is safe for calling from within ::render() methods.
static void	renderTextBitmap (int screen_x, int screen_y, const std::string &str, float color_r=1, float color_g=1, float color_b=1, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
	Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)
static int	textBitmapWidth (const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
	Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCRenderizable
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
Protected Member Functions
void	writeToStreamRender (utils::CStream &out) const
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
Methods accesible or implemented by derived classes
EIGEN_STRONG_INLINE void	notifyChange () const
	Must be called to notify that the object has changed (so, the display list must be updated)
virtual bool	should_skip_display_list_cache () const
	Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases.
void	readFromStreamRender (mrpt::utils::CStream &in)
Static Protected Member Functions
static void	checkOpenGLError ()
	Checks glGetError and throws an exception if an error situation is found.
static unsigned int	getNewTextureNumber ()
	Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).
static void	releaseTextureName (unsigned int i)
Protected Attributes
mrpt::slam::CObservation2DRangeScan	m_scan
mrpt::slam::CSimplePointsMap	m_cache_points
bool	m_cache_valid
float	m_line_width
float	m_line_R
float	m_line_G
float	m_line_B
float	m_line_A
float	m_points_width
float	m_points_R
float	m_points_G
float	m_points_B
float	m_points_A
float	m_plane_R
float	m_plane_G
float	m_plane_B
float	m_plane_A
bool	m_enable_points
bool	m_enable_line
bool	m_enable_surface
std::string	m_name
bool	m_show_name
mrpt::utils::TColor	m_color
	Color components in the range [0,255].
mrpt::poses::CPose3D	m_pose
	6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.
float	m_scale_x
float	m_scale_y
float	m_scale_z
	Scale components to apply to the object (default=1)
bool	m_visible
	Is the object visible? (default=true)
Private Member Functions
	CPlanarLaserScan ()
	Constructor.
virtual	~CPlanarLaserScan ()
	Private, virtual destructor: only can be deleted from smart pointers.
Friends
class	mrpt::opengl::COpenGLViewport
class	mrpt::opengl::CSetOfObjects
RTTI stuff
typedef CPlanarLaserScanPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CPlanarLaserScan
static mrpt::utils::TRuntimeClassId	classCPlanarLaserScan
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CPlanarLaserScanPtr	Create ()
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCRenderizableDisplayList
class	mrpt::utils::CStream

Member Typedef Documentation

typedef CPlanarLaserScanPtr mrpt::opengl::CPlanarLaserScan::SmartPtr

A typedef for the associated smart pointer

Definition at line 68 of file CPlanarLaserScan.h.

Constructor & Destructor Documentation

mrpt::opengl::CPlanarLaserScan::CPlanarLaserScan ( ) [private]

Constructor.

virtual mrpt::opengl::CPlanarLaserScan::~CPlanarLaserScan ( ) [inline, private, virtual]

Private, virtual destructor: only can be deleted from smart pointers.

Definition at line 143 of file CPlanarLaserScan.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CPlanarLaserScan::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

static void mrpt::opengl::CRenderizable::checkOpenGLError ( ) [static, protected, inherited]

Checks glGetError and throws an exception if an error situation is found.

void mrpt::opengl::CPlanarLaserScan::clear ( )

< Clear the scan

CRenderizableDisplayList* mrpt::opengl::CRenderizableDisplayList::clone ( ) const [inline, inherited]

Interface for the stlplus smart pointer class.

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 90 of file CRenderizableDisplayList.h.

static CPlanarLaserScanPtr mrpt::opengl::CPlanarLaserScan::Create ( ) [static]

static mrpt::utils::CObject* mrpt::opengl::CPlanarLaserScan::CreateObject ( ) [static]

virtual mrpt::utils::CObject* mrpt::opengl::CPlanarLaserScan::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

void mrpt::opengl::CPlanarLaserScan::enableLine ( bool enable = true ) [inline]

Show or hides lines along all scanned points.

See also:: setLineWidth, setLineColor

Definition at line 94 of file CPlanarLaserScan.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CPlanarLaserScan::enablePoints ( bool enable = true ) [inline]

Show or hides the scanned points.

See also:: sePointsWidth, setPointsColor

Definition at line 91 of file CPlanarLaserScan.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CRenderizable::enableShowName ( bool showName = true ) [inline, inherited]

Enables or disables showing the name of the object as a label when rendering.

Definition at line 95 of file CRenderizable.h.

void mrpt::opengl::CPlanarLaserScan::enableSurface ( bool enable = true ) [inline]

Show or hides the scanned area as a 2D surface.

See also:: setSurfaceColor

Definition at line 97 of file CPlanarLaserScan.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

mrpt::utils::TColorf mrpt::opengl::CRenderizable::getColor ( ) const [inline, inherited]

Returns the object color property as a TColorf.

Definition at line 150 of file CRenderizable.h.

const mrpt::utils::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const [inline, inherited]

Returns the object color property as a TColor.

Definition at line 159 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorA ( ) const [inline, inherited]

Color components in the range [0,1].

Definition at line 126 of file CRenderizable.h.

uint8_t mrpt::opengl::CRenderizable::getColorA_u8 ( ) const [inline, inherited]

Color components in the range [0,255].

Definition at line 131 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorB ( ) const [inline, inherited]

Color components in the range [0,1].

Definition at line 125 of file CRenderizable.h.

uint8_t mrpt::opengl::CRenderizable::getColorB_u8 ( ) const [inline, inherited]

Color components in the range [0,255].

Definition at line 130 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorG ( ) const [inline, inherited]

Color components in the range [0,1].

Definition at line 124 of file CRenderizable.h.

uint8_t mrpt::opengl::CRenderizable::getColorG_u8 ( ) const [inline, inherited]

Color components in the range [0,255].

Definition at line 129 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorR ( ) const [inline, inherited]

Color components in the range [0,1].

Definition at line 123 of file CRenderizable.h.

uint8_t mrpt::opengl::CRenderizable::getColorR_u8 ( ) const [inline, inherited]

Color components in the range [0,255].

Definition at line 128 of file CRenderizable.h.

float mrpt::opengl::CPlanarLaserScan::getLineWidth ( ) const [inline]

Definition at line 100 of file CPlanarLaserScan.h.

const std::string& mrpt::opengl::CRenderizable::getName ( ) const [inline, inherited]

Returns the name of the object.

Definition at line 90 of file CRenderizable.h.

static unsigned int mrpt::opengl::CRenderizable::getNewTextureNumber ( ) [static, protected, inherited]

Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).

mrpt::math::TPose3D mrpt::opengl::CRenderizable::getPose ( ) const [inherited]

Returns the 3D pose of the object as TPose3D.

double mrpt::opengl::CRenderizable::getPosePitch ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in **DEGREES**.

Definition at line 117 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPosePitchRad ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in radians.

Definition at line 120 of file CRenderizable.h.

const mrpt::poses::CPose3D& mrpt::opengl::CRenderizable::getPoseRef ( ) const [inline, inherited]

Returns a const ref to the 3D pose of the object as CPose3D (which explicitly contains the 3x3 rotation matrix)

Definition at line 105 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseRoll ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in **DEGREES**.

Definition at line 118 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPoseRollRad ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in radians.

Definition at line 121 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseX ( ) const [inline, inherited]

Translation relative to parent coordinate origin.

Definition at line 113 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseY ( ) const [inline, inherited]

Translation relative to parent coordinate origin.

Definition at line 114 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseYaw ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in **DEGREES**.

Definition at line 116 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPoseYawRad ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in radians.

Definition at line 119 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseZ ( ) const [inline, inherited]

Translation relative to parent coordinate origin.

Definition at line 115 of file CRenderizable.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::opengl::CPlanarLaserScan::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

float mrpt::opengl::CRenderizable::getScaleX ( ) const [inline, inherited]

Get the current scaling factor in one axis.

Definition at line 145 of file CRenderizable.h.

float mrpt::opengl::CRenderizable::getScaleY ( ) const [inline, inherited]

Get the current scaling factor in one axis.

Definition at line 146 of file CRenderizable.h.

float mrpt::opengl::CRenderizable::getScaleZ ( ) const [inline, inherited]

Get the current scaling factor in one axis.

Definition at line 147 of file CRenderizable.h.

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const [inline, inherited]

See also:: enableShowName

Definition at line 96 of file CRenderizable.h.

bool mrpt::opengl::CRenderizable::isVisible ( ) const [inline, inherited]

Is the object visible?

See also:: setVisibility

Definition at line 92 of file CRenderizable.h.

EIGEN_STRONG_INLINE void mrpt::opengl::CRenderizableDisplayList::notifyChange ( ) const [inline, protected, inherited]

Must be called to notify that the object has changed (so, the display list must be updated)

Definition at line 68 of file CRenderizableDisplayList.h.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters:

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

void mrpt::opengl::CRenderizableDisplayList::readFromStreamRender ( mrpt::utils::CStream & in ) [inline, protected, inherited]

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 77 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizable::readFromStreamRender().

static void mrpt::opengl::CRenderizable::releaseTextureName ( unsigned int i ) [static, protected, inherited]

virtual void mrpt::opengl::CRenderizableDisplayList::render ( ) const [virtual, inherited]

Render the object, regenerating the display list if needed, otherwise just calling it.

Implements mrpt::opengl::CRenderizable.

void mrpt::opengl::CPlanarLaserScan::render_dl ( ) const [virtual]

Render.

Implements mrpt::opengl::CRenderizableDisplayList.

static void mrpt::opengl::CRenderizable::renderTextBitmap	(	const char *	str,
		void *	fontStyle
	)		`[static, inherited]`

This method is safe for calling from within ::render() methods.

See also:: renderTextBitmap, mrpt::opengl::gl_utils

static void mrpt::opengl::CRenderizable::renderTextBitmap	(	int	screen_x,
		int	screen_y,
		const std::string &	str,
		float	color_r = `1`,
		float	color_g = `1`,
		float	color_b = `1`,
		mrpt::opengl::TOpenGLFont	font = `mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24`
	)		`[static, inherited]`

Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)

Coordinates (x,y) are 2D pixels, starting at bottom-left of the viewport. Negative numbers will wrap to the opposite side of the viewport (e.g. x=-10 means 10px fromt the right).
The text color is defined by (color_r,color_g,color_b), each float numbers in the range [0,1].
See also:
renderTextBitmap, textBitmapWidth, mrpt::opengl::gl_utils

void mrpt::opengl::CPlanarLaserScan::sePointsWidth ( float w ) [inline]

Definition at line 102 of file CPlanarLaserScan.h.

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf & c ) [inline, inherited]

Parameters:

c	Changes the default object color

Returns:: a ref to this

Definition at line 151 of file CRenderizable.h.

References mrpt::utils::TColorf::R, mrpt::utils::TColorf::G, mrpt::utils::TColorf::B, and mrpt::utils::TColorf::A.

CRenderizable& mrpt::opengl::CRenderizable::setColor	(	double	R,
		double	G,
		double	B,
		double	A = `1`
	)		`[inline, inherited]`

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns:: a ref to this

Definition at line 157 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColor_u8 ( const mrpt::utils::TColor & c ) [inline, virtual, inherited]

Changes the default object color.

Returns:: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 106 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizable::setColor_u8().

CRenderizable& mrpt::opengl::CRenderizable::setColor_u8	(	uint8_t	R,
		uint8_t	G,
		uint8_t	B,
		uint8_t	A = `255`
	)		`[inline, inherited]`

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns:: a ref to this

Definition at line 164 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColor_u8().

Referenced by mrpt::opengl::CRenderizable::setColor_u8().

CRenderizable& mrpt::opengl::CRenderizable::setColorA ( const double a ) [inline, inherited]

Color components in the range [0,1].

Returns:: a ref to this

Definition at line 136 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorA_u8 ( const uint8_t a ) [inline, virtual, inherited]

Color components in the range [0,255].

Returns:: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 105 of file CRenderizableDisplayList.h.

CRenderizable& mrpt::opengl::CRenderizable::setColorB ( const double b ) [inline, inherited]

Color components in the range [0,1].

Returns:: a ref to this

Definition at line 135 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorB_u8 ( const uint8_t b ) [inline, virtual, inherited]

Color components in the range [0,255].

Returns:: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 104 of file CRenderizableDisplayList.h.

CRenderizable& mrpt::opengl::CRenderizable::setColorG ( const double g ) [inline, inherited]

Color components in the range [0,1].

Returns:: a ref to this

Definition at line 134 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorG_u8 ( const uint8_t g ) [inline, virtual, inherited]

Color components in the range [0,255].

Returns:: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 103 of file CRenderizableDisplayList.h.

CRenderizable& mrpt::opengl::CRenderizable::setColorR ( const double r ) [inline, inherited]

Color components in the range [0,1].

Returns:: a ref to this

Definition at line 133 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorR_u8 ( const uint8_t r ) [inline, virtual, inherited]

Color components in the range [0,255].

Returns:: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 102 of file CRenderizableDisplayList.h.

void mrpt::opengl::CPlanarLaserScan::setLineColor	(	float	R,
		float	G,
		float	B,
		float	A = `1.0f`
	)		`[inline]`

Definition at line 104 of file CPlanarLaserScan.h.

void mrpt::opengl::CPlanarLaserScan::setLineWidth ( float w ) [inline]

Definition at line 99 of file CPlanarLaserScan.h.

CRenderizable& mrpt::opengl::CRenderizable::setLocation	(	double	x,
		double	y,
		double	z
	)		`[inline, inherited]`

Changes the location of the object, keeping untouched the orientation.

Returns:: a ref to this

Definition at line 108 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( const mrpt::math::TPoint3D & p ) [inline, inherited]

Changes the location of the object, keeping untouched the orientation.

Returns:: a ref to this

Definition at line 111 of file CRenderizable.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void mrpt::opengl::CRenderizable::setName ( const std::string & n ) [inline, inherited]

Changes the name of the object.

Definition at line 89 of file CRenderizable.h.

void mrpt::opengl::CPlanarLaserScan::setPointsColor	(	float	R,
		float	G,
		float	B,
		float	A = `1.0f`
	)		`[inline]`

Definition at line 111 of file CPlanarLaserScan.h.

CRenderizable& mrpt::opengl::CRenderizable::setPose ( const mrpt::poses::CPose3D & o ) [inherited]

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

CRenderizable& mrpt::opengl::CRenderizable::setPose ( const mrpt::math::TPose3D & o ) [inherited]

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

CRenderizable& mrpt::opengl::CRenderizable::setPose ( const mrpt::poses::CPoint3D & o ) [inherited]

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

CRenderizable& mrpt::opengl::CRenderizable::setPose ( const mrpt::poses::CPoint2D & o ) [inherited]

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float s ) [inline, inherited]

Scale to apply to the object, in all three axes (default=1)

Returns:: a ref to this

Definition at line 143 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizable::setScale	(	float	sx,
		float	sy,
		float	sz
	)		`[inline, inherited]`

Scale to apply to the object in each axis (default=1)

Returns:: a ref to this

Definition at line 144 of file CRenderizable.h.

void mrpt::opengl::CPlanarLaserScan::setScan ( const mrpt::slam::CObservation2DRangeScan & scan ) [inline]

Definition at line 126 of file CPlanarLaserScan.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CPlanarLaserScan::setSurfaceColor	(	float	R,
		float	G,
		float	B,
		float	A = `1.0f`
	)		`[inline]`

Definition at line 118 of file CPlanarLaserScan.h.

void mrpt::opengl::CRenderizable::setVisibility ( bool visible = true ) [inline, inherited]

Set object visibility (default=true)

See also:: isVisible

Definition at line 93 of file CRenderizable.h.

virtual bool mrpt::opengl::CRenderizableDisplayList::should_skip_display_list_cache ( ) const [inline, protected, virtual, inherited]

Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases.

Reimplemented in mrpt::opengl::CSphere.

Definition at line 75 of file CRenderizableDisplayList.h.

static int mrpt::opengl::CRenderizable::textBitmapWidth	(	const std::string &	str,
		mrpt::opengl::TOpenGLFont	font = `mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24`
	)		`[static, inherited]`

Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().

See also:: renderTextBitmap, mrpt::opengl::gl_utils

virtual bool mrpt::opengl::CRenderizable::traceRay	(	const mrpt::poses::CPose3D &	o,
		double &	dist
	)		const `[virtual, inherited]`

Simulation of ray-trace, given a pose.

Returns true if the ray effectively collisions with the object (returning the distance to the origin of the ray in "dist"), or false in other case. "dist" variable yields undefined behaviour when false is returned

Reimplemented in mrpt::opengl::CPolyhedron, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CMesh, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSetOfObjects, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CEllipsoid, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::CTexturedPlane, mrpt::opengl::CSphere, mrpt::opengl::CCylinder, mrpt::opengl::C3DSScene, mrpt::opengl::CDisk, and mrpt::opengl::CBox.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters:

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions:

std::exception On any error, see CStream::WriteBuffer