Detailed Description

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"

See also:: opengl::COpenGLScene

#include <mrpt/opengl/CSetOfObjects.h>

Inheritance diagram for mrpt::opengl::CSetOfObjects:

[legend]

List of all members.

Public Types
typedef CListOpenGLObjects::const_iterator	const_iterator
typedef CListOpenGLObjects::iterator	iterator
Public Member Functions
const_iterator	begin () const
const_iterator	end () const
iterator	begin ()
iterator	end ()
template<class T >
void	insertCollection (const T &objs)
	Inserts a set of objects into the list.
void	insert (const CRenderizablePtr &newObject)
	Insert a new object to the list.
template<class T_it >
void	insert (const T_it &begin, const T_it &end)
	Inserts a set of objects, bounded by iterators, into the list.
void	render () const
	Render child objects.
void	clear ()
	Clear the list of objects in the scene, deleting objects' memory.
size_t	size ()
	Returns number of objects.
bool	empty () const
	Returns true if there are no objects.
void	initializeAllTextures ()
	Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL)
CRenderizablePtr	getByName (const std::string &str)
	Returns the first object with a given name, or a NULL pointer if not found.
template<typename T >
T::SmartPtr	getByClass (const size_t &ith=0) const
	Returns the i'th object of a given class (or of a descendant class), or NULL (an empty smart pointer) if not found.
void	removeObject (const CRenderizablePtr &obj)
	Removes the given object from the scene (it also deletes the object to free its memory).
void	dumpListOfObjects (utils::CStringList &lst)
	Retrieves a list of all objects in text form.
virtual bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const
	Ray tracing.
virtual CRenderizable &	setColor_u8 (const mrpt::utils::TColor &c)
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].
bool	contains (const CRenderizablePtr &obj) const
CRenderizable *	clone () const
	Interface for the stlplus smart pointer class.
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
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.
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)
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().
pose_pdf -> 3d objects auxiliary templates
static CSetOfObjectsPtr	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::CPosePDF::getAs3DObject.
static CSetOfObjectsPtr	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::CPointPDF::getAs3DObject.
static CSetOfObjectsPtr	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::CPose3DPDF::getAs3DObject.
static CSetOfObjectsPtr	posePDF2opengl (const mrpt::poses::CPose3DQuatPDF &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 Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
Protected Member Functions
void	writeToStreamRender (utils::CStream &out) const
void	readFromStreamRender (utils::CStream &in)
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.
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
CListOpenGLObjects	m_objects
	The list of child objects.
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
	CSetOfObjects ()
	Default constructor.
virtual	~CSetOfObjects ()
	Private, virtual destructor: only can be deleted from smart pointers.
Friends
class	mrpt::opengl::COpenGLViewport
class	mrpt::opengl::CSetOfObjects
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCRenderizable
class	mrpt::utils::CStream
RTTI stuff
typedef CSetOfObjectsPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CSetOfObjects
static mrpt::utils::TRuntimeClassId	classCSetOfObjects
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 CSetOfObjectsPtr	Create ()

Member Typedef Documentation

typedef CListOpenGLObjects::const_iterator mrpt::opengl::CSetOfObjects::const_iterator

Definition at line 67 of file CSetOfObjects.h.

typedef CListOpenGLObjects::iterator mrpt::opengl::CSetOfObjects::iterator

Definition at line 68 of file CSetOfObjects.h.

typedef CSetOfObjectsPtr mrpt::opengl::CSetOfObjects::SmartPtr

A typedef for the associated smart pointer

Definition at line 57 of file CSetOfObjects.h.

Constructor & Destructor Documentation

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

Default constructor.

virtual mrpt::opengl::CSetOfObjects::~CSetOfObjects ( ) [private, virtual]

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

Member Function Documentation

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

Reimplemented from mrpt::opengl::CRenderizable.

const_iterator mrpt::opengl::CSetOfObjects::begin ( ) const [inline]

Definition at line 70 of file CSetOfObjects.h.

iterator mrpt::opengl::CSetOfObjects::begin ( ) [inline]

Definition at line 72 of file CSetOfObjects.h.

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

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

void mrpt::opengl::CSetOfObjects::clear ( )

Clear the list of objects in the scene, deleting objects' memory.

Referenced by mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_get_graphics_boundingboxes().

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

Interface for the stlplus smart pointer class.

Reimplemented from mrpt::utils::CObject.

Reimplemented in mrpt::opengl::CRenderizableDisplayList.

Definition at line 174 of file CRenderizable.h.

bool mrpt::opengl::CSetOfObjects::contains ( const CRenderizablePtr & obj ) const

static CSetOfObjectsPtr mrpt::opengl::CSetOfObjects::Create ( ) [static]

Referenced by mrpt::opengl::graph_tools::graph_visualize().

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

void mrpt::opengl::CSetOfObjects::dumpListOfObjects ( utils::CStringList & lst )

Retrieves a list of all objects in text form.

virtual mrpt::utils::CObject* mrpt::opengl::CSetOfObjects::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.

bool mrpt::opengl::CSetOfObjects::empty ( ) const [inline]

Returns true if there are no objects.

Definition at line 102 of file CSetOfObjects.h.

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.

const_iterator mrpt::opengl::CSetOfObjects::end ( ) const [inline]

Definition at line 71 of file CSetOfObjects.h.

iterator mrpt::opengl::CSetOfObjects::end ( ) [inline]

Definition at line 73 of file CSetOfObjects.h.

template<typename T >

T::SmartPtr mrpt::opengl::CSetOfObjects::getByClass ( const size_t & ith = 0 ) const [inline]

Returns the i'th object of a given class (or of a descendant class), or NULL (an empty smart pointer) if not found.

Example:

                                        CSpherePtr obs = myscene.getByClass<CSphere>();

By default (ith=0), the first observation is returned.

Definition at line 120 of file CSetOfObjects.h.

References MRPT_START, CLASS_ID_NAMESPACE, and MRPT_END.

CRenderizablePtr mrpt::opengl::CSetOfObjects::getByName ( const std::string & str )

Returns the first object with a given name, or a NULL pointer if not found.

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.

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::CSetOfObjects::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizable.

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.

void mrpt::opengl::CSetOfObjects::initializeAllTextures ( )

Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL)

void mrpt::opengl::CSetOfObjects::insert ( const CRenderizablePtr & newObject )

Insert a new object to the list.

Referenced by mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_get_graphics_boundingboxes().

template<class T_it >

void mrpt::opengl::CSetOfObjects::insert	(	const T_it &	begin,
		const T_it &	end
	)		`[inline]`

Inserts a set of objects, bounded by iterators, into the list.

Definition at line 86 of file CSetOfObjects.h.

References end().

template<class T >

void mrpt::opengl::CSetOfObjects::insertCollection ( const T & objs ) [inline]

Inserts a set of objects into the list.

Definition at line 77 of file CSetOfObjects.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.

static CSetOfObjectsPtr mrpt::opengl::CSetOfObjects::posePDF2opengl ( const mrpt::poses::CPosePDF & o ) [static]

Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPosePDF::getAs3DObject.

Referenced by mrpt::opengl::posePDF2opengl().

static CSetOfObjectsPtr mrpt::opengl::CSetOfObjects::posePDF2opengl ( const mrpt::poses::CPointPDF & o ) [static]

Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPointPDF::getAs3DObject.

static CSetOfObjectsPtr mrpt::opengl::CSetOfObjects::posePDF2opengl ( const mrpt::poses::CPose3DPDF & o ) [static]

Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPose3DPDF::getAs3DObject.

static CSetOfObjectsPtr mrpt::opengl::CSetOfObjects::posePDF2opengl ( const mrpt::poses::CPose3DQuatPDF & o ) [static]

Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPose3DQuatPDF::getAs3DObject.

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::CRenderizable::readFromStreamRender ( utils::CStream & in ) [protected, inherited]

Reimplemented in mrpt::opengl::CRenderizableDisplayList.

Referenced by mrpt::opengl::CRenderizableDisplayList::readFromStreamRender().

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

void mrpt::opengl::CSetOfObjects::removeObject ( const CRenderizablePtr & obj )

Removes the given object from the scene (it also deletes the object to free its memory).

void mrpt::opengl::CSetOfObjects::render ( ) const [virtual]

Render child objects.

Implements mrpt::opengl::CRenderizable.

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

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::CSetOfObjects::setColor_u8 ( const mrpt::utils::TColor & c ) [virtual]

Reimplemented from mrpt::opengl::CRenderizable.

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::CSetOfObjects::setColorA_u8 ( const uint8_t a ) [virtual]

Color components in the range [0,255].

Returns:: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

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::CSetOfObjects::setColorB_u8 ( const uint8_t b ) [virtual]

Color components in the range [0,255].

Returns:: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

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::CSetOfObjects::setColorG_u8 ( const uint8_t g ) [virtual]

Color components in the range [0,255].

Returns:: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

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::CSetOfObjects::setColorR_u8 ( const uint8_t r ) [virtual]

Color components in the range [0,255].

Returns:: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

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.

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

Set object visibility (default=true)

See also:: isVisible

Definition at line 93 of file CRenderizable.h.

size_t mrpt::opengl::CSetOfObjects::size ( ) [inline]

Returns number of objects.

Definition at line 99 of file CSetOfObjects.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::CSetOfObjects::traceRay	(	const mrpt::poses::CPose3D &	o,
		double &	dist
	)		const `[virtual]`

Ray tracing.

Reimplemented from mrpt::opengl::CRenderizable.

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