00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://www.mrpt.org/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef opengl_StockObjects_H 00029 #define opengl_StockObjects_H 00030 00031 #include <mrpt/opengl/CSetOfObjects.h> 00032 00033 namespace mrpt 00034 { 00035 namespace opengl 00036 { 00037 /** A collection of pre-built 3D objects for quick insertion in opengl::COpenGLScene objects. 00038 * \ingroup mrpt_opengl_grp 00039 */ 00040 namespace stock_objects 00041 { 00042 /** Returns a representation of a Pioneer II mobile base. 00043 * The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects. 00044 * <div align="center"> 00045 * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;"> 00046 * <tr> <td> mrpt::opengl::stock_objects::RobotPioneer() </td> <td> \image html preview_stock_objects_RobotPioneer.png </td> </tr> 00047 * </table> 00048 * </div> 00049 */ 00050 CSetOfObjectsPtr OPENGL_IMPEXP RobotPioneer(); 00051 00052 /** Returns three arrows representing a X,Y,Z 3D corner. 00053 * The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects. 00054 * \sa CornerXYZSimple, CornerXYSimple, CornerXYZEye 00055 * <div align="center"> 00056 * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;"> 00057 * <tr> <td> mrpt::opengl::stock_objects::CornerXYZ() </td> <td> \image html preview_stock_objects_CornerXYZ.png </td> </tr> 00058 * </table> 00059 * </div> 00060 */ 00061 CSetOfObjectsPtr OPENGL_IMPEXP CornerXYZ(float scale=1.0); 00062 00063 /** Returns three arrows representing a X,Y,Z 3D corner. 00064 * Differently from CornerXYZ the arrowhead of Z axis ends where the object is placed. 00065 * This is useful if you want to place this object with the same position and orientation of a camera. 00066 * The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects. 00067 * \sa CornerXYZSimple, CornerXYSimple 00068 * <div align="center"> 00069 * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;"> 00070 * <tr> <td> mrpt::opengl::stock_objects::CornerXYZ() </td> <td> \image html preview_stock_objects_CornerXYZEye.png </td> </tr> 00071 * </table> 00072 * </div> 00073 */ 00074 CSetOfObjectsPtr OPENGL_IMPEXP CornerXYZEye(); 00075 00076 /** Returns three arrows representing a X,Y,Z 3D corner (just thick lines instead of complex arrows for faster rendering than CornerXYZ). 00077 * The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects. 00078 * \sa CornerXYZ, CornerXYSimple 00079 * <div align="center"> 00080 * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;"> 00081 * <tr> <td> mrpt::opengl::stock_objects::CornerXYZSimple() </td> <td> \image html preview_stock_objects_CornerXYZSimple.png </td> </tr> 00082 * </table> 00083 * </div> 00084 */ 00085 CSetOfObjectsPtr OPENGL_IMPEXP CornerXYZSimple(float scale=1.0, float lineWidth=1.0); 00086 00087 /** Returns two arrows representing a X,Y 2D corner (just thick lines, fast to render). 00088 * The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects. 00089 * \sa CornerXYZSimple, CornerXYZ, CornerXYZEye 00090 * <div align="center"> 00091 * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;"> 00092 * <tr> <td> mrpt::opengl::stock_objects::CornerXYSimple() </td> <td> \image html preview_stock_objects_CornerXYSimple.png </td> </tr> 00093 * </table> 00094 * </div> 00095 */ 00096 CSetOfObjectsPtr OPENGL_IMPEXP CornerXYSimple(float scale=1.0, float lineWidth=1.0); 00097 00098 /** Returns a simple 3D model of a PointGrey Bumblebee stereo camera. 00099 * The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects. 00100 * <div align="center"> 00101 * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;"> 00102 * <tr> <td> mrpt::opengl::stock_objects::BumblebeeCamera() </td> <td> \image html preview_stock_objects_BumblebeeCamera.png </td> </tr> 00103 * </table> 00104 * </div> 00105 */ 00106 CSetOfObjectsPtr OPENGL_IMPEXP BumblebeeCamera(); 00107 00108 } // end namespace stock_objects 00109 } 00110 00111 } // End of namespace 00112 00113 00114 #endif
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