mrpt::opengl::CGridPlaneXY Class Reference

---

Detailed Description

A grid of lines over the XY plane.

See also:

opengl::COpenGLScene

mrpt::opengl::CGridPlaneXY

#include <mrpt/opengl/CGridPlaneXY.h>

Inheritance diagram for mrpt::opengl::CGridPlaneXY:

List of all members.

Public Member Functions
void	setPlaneLimits (float xmin, float xmax, float ymin, float ymax)
void	getPlaneLimits (float &xmin, float &xmax, float &ymin, float &ymax) const
void	setPlaneZcoord (float z)
float	getPlaneZcoord () const
void	setGridFrequency (float freq)
float	getGridFrequency () const
virtual 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 CGridPlaneXYPtr	Create (float xMin, float xMax, float yMin, float yMax, float z=0, float frequency=1)
	Class factory.
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
float	m_xMin
float	m_xMax
float	m_yMin
float	m_yMax
float	m_plane_z
float	m_frequency
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
	CGridPlaneXY (float xMin=-10, float xMax=10, float yMin=-10, float yMax=10, float z=0, float frequency=1)
	Constructor.
virtual	~CGridPlaneXY ()
	Private, virtual destructor: only can be deleted from smart pointers.
Friends
class	mrpt::opengl::COpenGLViewport
class	mrpt::opengl::CSetOfObjects
RTTI stuff
typedef CGridPlaneXYPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CGridPlaneXY
static mrpt::utils::TRuntimeClassId	classCGridPlaneXY
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 CGridPlaneXYPtr	Create ()
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCRenderizableDisplayList
class	mrpt::utils::CStream

---

Member Typedef Documentation

typedef CGridPlaneXYPtr mrpt::opengl::CGridPlaneXY::SmartPtr

A typedef for the associated smart pointer

Definition at line 56 of file CGridPlaneXY.h.

---

Constructor & Destructor Documentation

mrpt::opengl::CGridPlaneXY::CGridPlaneXY	(	float	xMin = -10,
		float	xMax = 10,
		float	yMin = -10,
		float	yMax = 10,
		float	z = 0,
		float	frequency = 1
	)		[inline, private]

Constructor.

Definition at line 111 of file CGridPlaneXY.h.

virtual mrpt::opengl::CGridPlaneXY::~CGridPlaneXY

(

)

[inline, private, virtual]

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

Definition at line 128 of file CGridPlaneXY.h.

---

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CGridPlaneXY::_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.

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 CGridPlaneXYPtr mrpt::opengl::CGridPlaneXY::Create

(

)

[static]

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

static CGridPlaneXYPtr mrpt::opengl::CGridPlaneXY::Create	(	float	xMin,
		float	xMax,
		float	yMin,
		float	yMax,
		float	z = 0,
		float	frequency = 1
	)		[inline, static]

Class factory.

Definition at line 90 of file CGridPlaneXY.h.

References mrpt::opengl::CGridPlaneXY.

static mrpt::utils::CObject* mrpt::opengl::CGridPlaneXY::CreateObject

(

)

[static]

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

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::CGridPlaneXY::getGridFrequency

(

)

const [inline]

Definition at line 83 of file CGridPlaneXY.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).

void mrpt::opengl::CGridPlaneXY::getPlaneLimits	(	float &	xmin,
		float &	xmax,
		float &	ymin,
		float &	ymax
	)		const [inline]

Definition at line 73 of file CGridPlaneXY.h.

float mrpt::opengl::CGridPlaneXY::getPlaneZcoord

(

)

const [inline]

Definition at line 80 of file CGridPlaneXY.h.

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::CGridPlaneXY::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.

Referenced by mrpt::opengl::C3DSScene::enableExtraAmbientLight(), mrpt::opengl::CAngularObservationMesh::setWireframe(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CArrow::setHeadRatio(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CArrow::setLargeRadius(), mrpt::opengl::CArrow::setArrowYawPitchRoll(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CAxis::setFrequency(), mrpt::opengl::CAxis::setLineWidth(), mrpt::opengl::CAxis::enableTickMarks(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CBox::setWireframe(), mrpt::opengl::CCylinder::setHasBases(), mrpt::opengl::CCylinder::setRadius(), mrpt::opengl::CCylinder::setRadii(), mrpt::opengl::CCylinder::setHeight(), mrpt::opengl::CCylinder::setSlicesCount(), mrpt::opengl::CCylinder::setStacksCount(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::CDisk::setSlicesCount(), mrpt::opengl::CDisk::setLoopsCount(), mrpt::opengl::CEllipsoid::enableDrawSolid3D(), mrpt::opengl::CEllipsoid::setQuantiles(), mrpt::opengl::CEllipsoid::set2DsegmentsCount(), mrpt::opengl::CEllipsoid::set3DsegmentsCount(), mrpt::opengl::CGeneralizedCylinder::setAxis(), mrpt::opengl::CGeneralizedCylinder::setGeneratrix(), mrpt::opengl::CGeneralizedCylinder::setClosed(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsVisible(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsInvisible(), mrpt::opengl::CGeneralizedCylinder::setVisibleSections(), mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtStart(), mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtEnd(), setPlaneLimits(), setPlaneZcoord(), setGridFrequency(), mrpt::opengl::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneYcoord(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CMesh::setGridLimits(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CMesh::enableWireFrame(), mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::CMesh::setXMin(), mrpt::opengl::CMesh::setXMax(), mrpt::opengl::CMesh::setYMin(), mrpt::opengl::CMesh::setYMax(), mrpt::opengl::CMesh::setXBounds(), mrpt::opengl::CMesh::setYBounds(), mrpt::opengl::COpenGLStandardObject::enable(), mrpt::opengl::COpenGLStandardObject::disable(), mrpt::opengl::COpenGLStandardObject::setFlags(), mrpt::opengl::COpenGLStandardObject::setNormal(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enableSurface(), mrpt::opengl::CPlanarLaserScan::setScan(), mrpt::opengl::CPolyhedron::setWireframe(), mrpt::opengl::CPolyhedron::setLineWidth(), mrpt::opengl::CSetOfLines::clear(), mrpt::opengl::CSetOfLines::setLineWidth(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CSetOfLines::resize(), mrpt::opengl::CSetOfLines::reserve(), mrpt::opengl::CSetOfLines::setLineByIndex(), mrpt::opengl::CSetOfLines::begin(), mrpt::opengl::CSetOfLines::end(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::CSetOfTriangles::enableTransparency(), mrpt::opengl::CSimpleLine::setLineWidth(), mrpt::opengl::CSimpleLine::setLineCoords(), mrpt::opengl::CSphere::setRadius(), mrpt::opengl::CSphere::setNumberDivsLongitude(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CSphere::enableRadiusIndependentOfEyeDistance(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CTexturedPlane::setTextureCornerCoords(), and mrpt::opengl::CTexturedPlane::setPlaneCorners().

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.

virtual void mrpt::opengl::CGridPlaneXY::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

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::CGridPlaneXY::setGridFrequency

(

float

freq

)

[inline]

Definition at line 82 of file CGridPlaneXY.h.

References ASSERT_, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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::CGridPlaneXY::setPlaneLimits	(	float	xmin,
		float	xmax,
		float	ymin,
		float	ymax
	)		[inline]

Definition at line 66 of file CGridPlaneXY.h.

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

void mrpt::opengl::CGridPlaneXY::setPlaneZcoord

(

float

z

)

[inline]

Definition at line 79 of file CGridPlaneXY.h.

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

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.

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

See also:

CStream

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

void mrpt::opengl::CRenderizable::writeToStreamRender

(

utils::CStream &

out

)

const [protected, inherited]

---

Friends And Related Function Documentation

friend class mrpt::opengl::COpenGLViewport [friend, inherited]

Definition at line 74 of file CRenderizable.h.

friend class mrpt::opengl::CSetOfObjects [friend, inherited]

Definition at line 75 of file CRenderizable.h.

friend class mrpt::utils::CStream [friend, inherited]

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CTexturedObject.

Definition at line 57 of file CRenderizableDisplayList.h.

---

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::opengl::CGridPlaneXY::_init_CGridPlaneXY [static, protected]

Definition at line 56 of file CGridPlaneXY.h.

mrpt::utils::TRuntimeClassId mrpt::opengl::CGridPlaneXY::classCGridPlaneXY [static]

Definition at line 56 of file CGridPlaneXY.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject [static, inherited]

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizable::classCRenderizable [static, inherited]

Definition at line 72 of file CRenderizable.h.

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizableDisplayList::classCRenderizableDisplayList [static, inherited]

Definition at line 57 of file CRenderizableDisplayList.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable [static, inherited]

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::opengl::CGridPlaneXY::classinfo [static]

Definition at line 56 of file CGridPlaneXY.h.

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color [protected, inherited]

Color components in the range [0,255].

Definition at line 80 of file CRenderizable.h.

float mrpt::opengl::CGridPlaneXY::m_frequency [protected]

Definition at line 62 of file CGridPlaneXY.h.

std::string mrpt::opengl::CRenderizable::m_name [protected, inherited]

Definition at line 78 of file CRenderizable.h.

float mrpt::opengl::CGridPlaneXY::m_plane_z [protected]

Definition at line 61 of file CGridPlaneXY.h.

mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose [protected, inherited]

6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.

Definition at line 81 of file CRenderizable.h.

float mrpt::opengl::CRenderizable::m_scale_x [protected, inherited]

Definition at line 82 of file CRenderizable.h.

float mrpt::opengl::CRenderizable::m_scale_y [protected, inherited]

Definition at line 82 of file CRenderizable.h.

float mrpt::opengl::CRenderizable::m_scale_z [protected, inherited]

Scale components to apply to the object (default=1)

Definition at line 82 of file CRenderizable.h.

bool mrpt::opengl::CRenderizable::m_show_name [protected, inherited]

Definition at line 79 of file CRenderizable.h.

bool mrpt::opengl::CRenderizable::m_visible [protected, inherited]

Is the object visible? (default=true)

Definition at line 83 of file CRenderizable.h.

float mrpt::opengl::CGridPlaneXY::m_xMax [protected]

Definition at line 59 of file CGridPlaneXY.h.

float mrpt::opengl::CGridPlaneXY::m_xMin [protected]

Definition at line 59 of file CGridPlaneXY.h.

float mrpt::opengl::CGridPlaneXY::m_yMax [protected]

Definition at line 60 of file CGridPlaneXY.h.

float mrpt::opengl::CGridPlaneXY::m_yMin [protected]

Definition at line 60 of file CGridPlaneXY.h.