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stock_objects.h
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1 /* +---------------------------------------------------------------------------+
2  | The Mobile Robot Programming Toolkit (MRPT) C++ library |
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27  +---------------------------------------------------------------------------+ */
28 #ifndef opengl_StockObjects_H
29 #define opengl_StockObjects_H
30 
31 #include <mrpt/opengl/CSetOfObjects.h>
32 
33 namespace mrpt
34 {
35  namespace opengl
36  {
37  /** A collection of pre-built 3D objects for quick insertion in opengl::COpenGLScene objects.
38  * \ingroup mrpt_opengl_grp
39  */
40  namespace stock_objects
41  {
42  /** Returns a representation of a Pioneer II mobile base.
43  * The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects.
44  * <div align="center">
45  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
46  * <tr> <td> mrpt::opengl::stock_objects::RobotPioneer() </td> <td> \image html preview_stock_objects_RobotPioneer.png </td> </tr>
47  * </table>
48  * </div>
49  */
50  CSetOfObjectsPtr OPENGL_IMPEXP RobotPioneer();
51 
52  /** Returns three arrows representing a X,Y,Z 3D corner.
53  * The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects.
54  * \sa CornerXYZSimple, CornerXYSimple, CornerXYZEye
55  * <div align="center">
56  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
57  * <tr> <td> mrpt::opengl::stock_objects::CornerXYZ() </td> <td> \image html preview_stock_objects_CornerXYZ.png </td> </tr>
58  * </table>
59  * </div>
60  */
61  CSetOfObjectsPtr OPENGL_IMPEXP CornerXYZ(float scale=1.0);
62 
63  /** Returns three arrows representing a X,Y,Z 3D corner.
64  * Differently from CornerXYZ the arrowhead of Z axis ends where the object is placed.
65  * This is useful if you want to place this object with the same position and orientation of a camera.
66  * The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects.
67  * \sa CornerXYZSimple, CornerXYSimple
68  * <div align="center">
69  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
70  * <tr> <td> mrpt::opengl::stock_objects::CornerXYZ() </td> <td> \image html preview_stock_objects_CornerXYZEye.png </td> </tr>
71  * </table>
72  * </div>
73  */
74  CSetOfObjectsPtr OPENGL_IMPEXP CornerXYZEye();
75 
76  /** Returns three arrows representing a X,Y,Z 3D corner (just thick lines instead of complex arrows for faster rendering than CornerXYZ).
77  * The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects.
78  * \sa CornerXYZ, CornerXYSimple
79  * <div align="center">
80  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
81  * <tr> <td> mrpt::opengl::stock_objects::CornerXYZSimple() </td> <td> \image html preview_stock_objects_CornerXYZSimple.png </td> </tr>
82  * </table>
83  * </div>
84  */
85  CSetOfObjectsPtr OPENGL_IMPEXP CornerXYZSimple(float scale=1.0, float lineWidth=1.0);
86 
87  /** Returns two arrows representing a X,Y 2D corner (just thick lines, fast to render).
88  * The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects.
89  * \sa CornerXYZSimple, CornerXYZ, CornerXYZEye
90  * <div align="center">
91  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
92  * <tr> <td> mrpt::opengl::stock_objects::CornerXYSimple() </td> <td> \image html preview_stock_objects_CornerXYSimple.png </td> </tr>
93  * </table>
94  * </div>
95  */
96  CSetOfObjectsPtr OPENGL_IMPEXP CornerXYSimple(float scale=1.0, float lineWidth=1.0);
97 
98  /** Returns a simple 3D model of a PointGrey Bumblebee stereo camera.
99  * The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects.
100  * <div align="center">
101  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
102  * <tr> <td> mrpt::opengl::stock_objects::BumblebeeCamera() </td> <td> \image html preview_stock_objects_BumblebeeCamera.png </td> </tr>
103  * </table>
104  * </div>
105  */
106  CSetOfObjectsPtr OPENGL_IMPEXP BumblebeeCamera();
107 
108  } // end namespace stock_objects
109  }
110 
111 } // End of namespace
112 
113 
114 #endif


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