mrpt::opengl::CMesh Class Reference

---

Detailed Description

A planar (XY) grid where each cell has an associated height and, optionally, a texture map.

A typical usage example would be an elevation map or a 3D model of a terrain.

See also:

opengl::COpenGLScene

mrpt::opengl::CMesh

#include <mrpt/opengl/CMesh.h>

Inheritance diagram for mrpt::opengl::CMesh:

List of all members.

Public Member Functions
void	setGridLimits (float xmin, float xmax, float ymin, float ymax)
void	getGridLimits (float &xmin, float &xmax, float &ymin, float &ymax) const
void	enableTransparency (bool v)
void	enableWireFrame (bool v)
void	enableColorFromZ (bool v, mrpt::utils::TColormap colorMap=mrpt::utils::cmJET)
void	setZ (const mrpt::math::CMatrixTemplateNumeric< float > &in_Z)
	This method sets the matrix of heights for each position (cell) in the mesh grid.
void	getZ (mrpt::math::CMatrixFloat &out) const
	Returns a reference to the internal Z matrix, allowing changing it efficiently.
void	getMask (mrpt::math::CMatrixFloat &out) const
	Returns a reference to the internal mask matrix, allowing changing it efficiently.
void	setMask (const mrpt::math::CMatrixTemplateNumeric< float > &in_mask)
	This method sets the boolean mask of valid heights for each position (cell) in the mesh grid.
void	setUV (const mrpt::math::CMatrixTemplateNumeric< float > &in_U, const mrpt::math::CMatrixTemplateNumeric< float > &in_V)
	Sets the (u,v) texture coordinates (in range [0,1]) for each cell.
float	getXMin () const
float	getXMax () const
float	getYMin () const
float	getYMax () const
void	setXMin (const float &nxm)
void	setXMax (const float &nxm)
void	setYMin (const float &nym)
void	setYMax (const float &nym)
void	getXBounds (float &min, float &max) const
void	getYBounds (float &min, float &max) const
void	setXBounds (const float &min, const float &max)
void	setYBounds (const float &min, const float &max)
void	render_dl () const
	Render.
void	assignImage (const utils::CImage &img)
	Assigns a texture image, and disable transparency.
virtual bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const
	Trace ray.
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.
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 CMeshPtr	Create (bool enableTransparency, float xMin=0.0f, float xMax=0.0f, float yMin=0.0f, float yMax=0.0f)
	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	updateColorsMatrix () const
	Called internally to assure C is updated.
void	updateTriangles () const
	Called internally to assure the triangle list is updated.
void	updatePolygons () const
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::utils::CImage	m_textureImage
bool	m_enableTransparency
bool	m_colorFromZ
bool	m_isWireFrame
math::CMatrix	Z
	Z(x,y): Z-coordinate of the point (x,y)
math::CMatrix	mask
math::CMatrix	U
math::CMatrix	V
	Texture coordinates.
math::CMatrix	C
	Color [0,1] for each cell, updated by updateColorsMatrix.
mrpt::utils::TColormap	m_colorMap
	Used when m_colorFromZ is true.
bool	m_modified_Z
	Whether C is not up-to-date wrt to Z.
float	xMin
float	xMax
float	yMin
float	yMax
	Mesh bounds.
std::vector < CSetOfTriangles::TTriangle >	actualMesh
	List of triangles in the mesh.
bool	trianglesUpToDate
	Whether the actual mesh needs to be recalculated.
bool	polygonsUpToDate
std::vector < mrpt::math::TPolygonWithPlane >	tmpPolys
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
	CMesh (bool enableTransparency=false, float xMin=0.0f, float xMax=0.0f, float yMin=0.0f, float yMax=0.0f)
	Constructor.
virtual	~CMesh ()
	Private, virtual destructor: only can be deleted from smart pointers.
Friends
class	mrpt::opengl::COpenGLViewport
class	mrpt::opengl::CSetOfObjects
RTTI stuff
typedef CMeshPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CMesh
static mrpt::utils::TRuntimeClassId	classCMesh
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 CMeshPtr	Create ()
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCRenderizableDisplayList
class	mrpt::utils::CStream

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Member Typedef Documentation

typedef CMeshPtr mrpt::opengl::CMesh::SmartPtr

A typedef for the associated smart pointer

Definition at line 61 of file CMesh.h.

---

Constructor & Destructor Documentation

mrpt::opengl::CMesh::CMesh	(	bool	enableTransparency = false,
		float	xMin = 0.0f,
		float	xMax = 0.0f,
		float	yMin = 0.0f,
		float	yMax = 0.0f
	)		[inline, private]

Constructor.

Definition at line 191 of file CMesh.h.

virtual mrpt::opengl::CMesh::~CMesh

(

)

[inline, private, virtual]

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

Definition at line 208 of file CMesh.h.

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Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CMesh::_GetBaseClass

(

)

[static, protected]

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

void mrpt::opengl::CMesh::assignImage

(

const utils::CImage &

img

)

Assigns a texture image, and disable transparency.

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 CMeshPtr mrpt::opengl::CMesh::Create

(

)

[static]

static CMeshPtr mrpt::opengl::CMesh::Create	(	bool	enableTransparency,
		float	xMin = 0.0f,
		float	xMax = 0.0f,
		float	yMin = 0.0f,
		float	yMax = 0.0f
	)		[inline, static]

Class factory.

Definition at line 171 of file CMesh.h.

References mrpt::opengl::CMesh.

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

(

)

[static]

virtual mrpt::utils::CObject* mrpt::opengl::CMesh::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::CMesh::enableColorFromZ	(	bool	v,
		mrpt::utils::TColormap	colorMap = mrpt::utils::cmJET
	)		[inline]

Definition at line 104 of file CMesh.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::CMesh::enableTransparency

(

bool

v

)

[inline]

Definition at line 102 of file CMesh.h.

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

void mrpt::opengl::CMesh::enableWireFrame

(

bool

v

)

[inline]

Definition at line 103 of file CMesh.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.

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

Definition at line 96 of file CMesh.h.

void mrpt::opengl::CMesh::getMask

(

mrpt::math::CMatrixFloat &

out

)

const [inline]

Returns a reference to the internal mask matrix, allowing changing it efficiently.

Definition at line 120 of file CMesh.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::CMesh::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.

void mrpt::opengl::CMesh::getXBounds	(	float &	min,
		float &	max
	)		const [inline]

Definition at line 150 of file CMesh.h.

float mrpt::opengl::CMesh::getXMax

(

)

const [inline]

Definition at line 131 of file CMesh.h.

float mrpt::opengl::CMesh::getXMin

(

)

const [inline]

Definition at line 130 of file CMesh.h.

void mrpt::opengl::CMesh::getYBounds	(	float &	min,
		float &	max
	)		const [inline]

Definition at line 154 of file CMesh.h.

float mrpt::opengl::CMesh::getYMax

(

)

const [inline]

Definition at line 133 of file CMesh.h.

float mrpt::opengl::CMesh::getYMin

(

)

const [inline]

Definition at line 132 of file CMesh.h.

void mrpt::opengl::CMesh::getZ

(

mrpt::math::CMatrixFloat &

out

)

const [inline]

Returns a reference to the internal Z matrix, allowing changing it efficiently.

Definition at line 115 of file CMesh.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(), mrpt::opengl::CGridPlaneXY::setPlaneLimits(), mrpt::opengl::CGridPlaneXY::setPlaneZcoord(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneYcoord(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), setGridLimits(), enableTransparency(), enableWireFrame(), enableColorFromZ(), setXMin(), setXMax(), setYMin(), setYMax(), setXBounds(), 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.

void mrpt::opengl::CMesh::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::CMesh::setGridLimits	(	float	xmin,
		float	xmax,
		float	ymin,
		float	ymax
	)		[inline]

Definition at line 89 of file CMesh.h.

References 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::CMesh::setMask

(

const mrpt::math::CMatrixTemplateNumeric< float > &

in_mask

)

This method sets the boolean mask of valid heights for each position (cell) in the mesh grid.

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::CMesh::setUV	(	const mrpt::math::CMatrixTemplateNumeric< float > &	in_U,
		const mrpt::math::CMatrixTemplateNumeric< float > &	in_V
	)

Sets the (u,v) texture coordinates (in range [0,1]) for each cell.

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.

void mrpt::opengl::CMesh::setXBounds	(	const float &	min,
		const float &	max
	)		[inline]

Definition at line 158 of file CMesh.h.

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

void mrpt::opengl::CMesh::setXMax

(

const float &

nxm

)

[inline]

Definition at line 138 of file CMesh.h.

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

void mrpt::opengl::CMesh::setXMin

(

const float &

nxm

)

[inline]

Definition at line 134 of file CMesh.h.

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

void mrpt::opengl::CMesh::setYBounds	(	const float &	min,
		const float &	max
	)		[inline]

Definition at line 163 of file CMesh.h.

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

void mrpt::opengl::CMesh::setYMax

(

const float &

nym

)

[inline]

Definition at line 146 of file CMesh.h.

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

void mrpt::opengl::CMesh::setYMin

(

const float &

nym

)

[inline]

Definition at line 142 of file CMesh.h.

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

void mrpt::opengl::CMesh::setZ

(

const mrpt::math::CMatrixTemplateNumeric< float > &

in_Z

)

This method sets the matrix of heights for each position (cell) in the mesh grid.

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::CMesh::traceRay	(	const mrpt::poses::CPose3D &	o,
		double &	dist
	)		const [virtual]

Trace ray.

Reimplemented from mrpt::opengl::CRenderizable.

void mrpt::opengl::CMesh::updateColorsMatrix

(

)

const [protected]

Called internally to assure C is updated.

void mrpt::opengl::CMesh::updatePolygons

(

)

const [protected]

void mrpt::opengl::CMesh::updateTriangles

(

)

const [protected]

Called internally to assure the triangle list is updated.

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::CMesh::_init_CMesh [static, protected]

Definition at line 61 of file CMesh.h.

std::vector<CSetOfTriangles::TTriangle> mrpt::opengl::CMesh::actualMesh [mutable, protected]

List of triangles in the mesh.

Definition at line 83 of file CMesh.h.

math::CMatrix mrpt::opengl::CMesh::C [mutable, protected]

Color [0,1] for each cell, updated by updateColorsMatrix.

Definition at line 72 of file CMesh.h.

mrpt::utils::TRuntimeClassId mrpt::opengl::CMesh::classCMesh [static]

Definition at line 61 of file CMesh.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::CMesh::classinfo [static]

Definition at line 61 of file CMesh.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.

bool mrpt::opengl::CMesh::m_colorFromZ [protected]

Definition at line 66 of file CMesh.h.

mrpt::utils::TColormap mrpt::opengl::CMesh::m_colorMap [protected]

Used when m_colorFromZ is true.

Definition at line 74 of file CMesh.h.

bool mrpt::opengl::CMesh::m_enableTransparency [protected]

Definition at line 65 of file CMesh.h.

bool mrpt::opengl::CMesh::m_isWireFrame [protected]

Definition at line 67 of file CMesh.h.

bool mrpt::opengl::CMesh::m_modified_Z [mutable, protected]

Whether C is not up-to-date wrt to Z.

Definition at line 76 of file CMesh.h.

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

Definition at line 78 of file CRenderizable.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.

mrpt::utils::CImage mrpt::opengl::CMesh::m_textureImage [protected]

Definition at line 63 of file CMesh.h.

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

Is the object visible? (default=true)

Definition at line 83 of file CRenderizable.h.

math::CMatrix mrpt::opengl::CMesh::mask [protected]

Definition at line 70 of file CMesh.h.

bool mrpt::opengl::CMesh::polygonsUpToDate [mutable, protected]

Definition at line 85 of file CMesh.h.

std::vector<mrpt::math::TPolygonWithPlane> mrpt::opengl::CMesh::tmpPolys [mutable, protected]

Definition at line 86 of file CMesh.h.

bool mrpt::opengl::CMesh::trianglesUpToDate [mutable, protected]

Whether the actual mesh needs to be recalculated.

Definition at line 84 of file CMesh.h.

math::CMatrix mrpt::opengl::CMesh::U [protected]

Definition at line 71 of file CMesh.h.

math::CMatrix mrpt::opengl::CMesh::V [protected]

Texture coordinates.

Definition at line 71 of file CMesh.h.

float mrpt::opengl::CMesh::xMax [protected]

Definition at line 82 of file CMesh.h.

float mrpt::opengl::CMesh::xMin [protected]

Definition at line 82 of file CMesh.h.

float mrpt::opengl::CMesh::yMax [protected]

Mesh bounds.

Definition at line 82 of file CMesh.h.

float mrpt::opengl::CMesh::yMin [protected]

Definition at line 82 of file CMesh.h.

math::CMatrix mrpt::opengl::CMesh::Z [protected]

Z(x,y): Z-coordinate of the point (x,y)

Definition at line 69 of file CMesh.h.