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mrpt::opengl::CGeneralizedCylinder Class Reference

Detailed Description

This object represents any figure obtained by extruding any profile along a given axis.

The profile should lie over a x=0 plane, and the axis must be roughly perpendicular to this plane. In particular, it should be almost perpendicular to the Z axis.

Definition at line 28 of file CGeneralizedCylinder.h.

#include <mrpt/opengl/CGeneralizedCylinder.h>

Inheritance diagram for mrpt::opengl::CGeneralizedCylinder:
Inheritance graph

Classes

struct  TQuadrilateral
 Auxiliary struct holding any quadrilateral, represented by foour points. More...
 

Public Member Functions

void render_dl () const MRPT_OVERRIDE
 Render. More...
 
bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const MRPT_OVERRIDE
 Ray tracing. More...
 
void getAxis (std::vector< mrpt::math::TPoint3D > &a) const
 Get axis's spatial coordinates. More...
 
void getAxis (mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t &a) const
 Get axis, including angular coordinates. More...
 
void setAxis (const std::vector< mrpt::math::TPoint3D > &a)
 Set the axis points. More...
 
void getGeneratrix (std::vector< mrpt::math::TPoint3D > &g) const
 Get cylinder's profile. More...
 
void setGeneratrix (const std::vector< mrpt::math::TPoint3D > &g)
 Set cylinder's profile. More...
 
bool isClosed () const
 Returns true if each section is a closed polygon. More...
 
void setClosed (bool c=true)
 Set whether each section is a closed polygon or not. More...
 
void getOrigin (CPolyhedronPtr &poly) const
 Get a polyhedron containing the starting point of the cylinder (its "base"). More...
 
void getEnd (CPolyhedronPtr &poly) const
 Get a polyhedron containing the ending point of the cylinder (its "base"). More...
 
void generateSetOfPolygons (std::vector< mrpt::math::TPolygon3D > &res) const
 Get the cylinder as a set of polygons in 3D. More...
 
void getClosedSection (size_t index1, size_t index2, CPolyhedronPtr &poly) const
 Get a polyhedron consisting of a set of closed sections of the cylinder. More...
 
void getClosedSection (size_t index, CPolyhedronPtr &poly) const
 Get a polyhedron consisting of a single section of the cylinder. More...
 
size_t getNumberOfSections () const
 Get the number of sections in this cylinder. More...
 
size_t getVisibleSections () const
 Get how many visible sections are in the cylinder. More...
 
void getVisibleSections (size_t &first, size_t &last) const
 Gets the cylinder's visible sections. More...
 
void setAllSectionsVisible ()
 Sets all sections visible. More...
 
void setAllSectionsInvisible (size_t pointer=0)
 Hides all sections. More...
 
void setVisibleSections (size_t first, size_t last)
 Sets which sections are visible. More...
 
void addVisibleSectionAtStart ()
 Adds another visible section at the start of the cylinder. More...
 
void addVisibleSectionAtEnd ()
 Adds another visible section at the end of the cylinder. More...
 
void removeVisibleSectionAtStart ()
 Removes a visible section from the start of the currently visible set. More...
 
void removeVisibleSectionAtEnd ()
 Removes a visible section from the ending of the currently visible set. More...
 
bool getFirstSectionPose (mrpt::poses::CPose3D &p)
 Gets the axis pose of the first section, returning false if there is no such pose. More...
 
bool getLastSectionPose (mrpt::poses::CPose3D &p)
 Gets the axis pose of the last section, returning false if there is no such pose. More...
 
bool getFirstVisibleSectionPose (mrpt::poses::CPose3D &p)
 Gets the axis pose of the first visible section, returning false if there is no such pose. More...
 
bool getLastVisibleSectionPose (mrpt::poses::CPose3D &p)
 Gets the axis pose of the last section, returning false if there is no such pose. More...
 
void updatePolys () const
 Updates the mutable set of polygons used in ray tracing. More...
 
void getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE
 Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More...
 
CRenderizableDisplayListclone () const
 Interface for the stlplus smart pointer class. More...
 
void render () const MRPT_OVERRIDE
 Render the object, regenerating the display list if needed, otherwise just calling it. More...
 
Changes the appearance of the object to render (methods from CRenderizable that need to be redefined)
CRenderizablesetColorR_u8 (const uint8_t r) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColorG_u8 (const uint8_t g) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColorB_u8 (const uint8_t b) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColorA_u8 (const uint8_t a) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColor_u8 (const mrpt::utils::TColor &c) MRPT_OVERRIDE
 Changes the default object color. More...
 
Changes the appearance of the object to render
CRenderizablesetColor_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) More...
 
void setName (const std::string &n)
 Changes the name of the object. More...
 
const std::string & getName () const
 Returns the name of the object. More...
 
bool isVisible () const
 Is the object visible? More...
 
void setVisibility (bool visible=true)
 Set object visibility (default=true) More...
 
void enableShowName (bool showName=true)
 Enables or disables showing the name of the object as a label when rendering. More...
 
bool isShowNameEnabled () const
 
CRenderizablesetPose (const mrpt::poses::CPose3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose3D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPoint3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPoint2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
mrpt::math::TPose3D getPose () const
 Returns the 3D pose of the object as TPose3D. More...
 
const mrpt::poses::CPose3DgetPoseRef () const
 Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More...
 
CRenderizablesetLocation (double x, double y, double z)
 Changes the location of the object, keeping untouched the orientation. More...
 
CRenderizablesetLocation (const mrpt::math::TPoint3D &p)
 Changes the location of the object, keeping untouched the orientation. More...
 
double getPoseX () const
 Translation relative to parent coordinate origin. More...
 
double getPoseY () const
 Translation relative to parent coordinate origin. More...
 
double getPoseZ () const
 Translation relative to parent coordinate origin. More...
 
double getPoseYaw () const
 Rotation relative to parent coordinate origin, in DEGREES. More...
 
double getPosePitch () const
 Rotation relative to parent coordinate origin, in DEGREES. More...
 
double getPoseRoll () const
 Rotation relative to parent coordinate origin, in DEGREES. More...
 
double getPoseYawRad () const
 Rotation relative to parent coordinate origin, in radians. More...
 
double getPosePitchRad () const
 Rotation relative to parent coordinate origin, in radians. More...
 
double getPoseRollRad () const
 Rotation relative to parent coordinate origin, in radians. More...
 
double getColorR () const
 Color components in the range [0,1]. More...
 
double getColorG () const
 Color components in the range [0,1]. More...
 
double getColorB () const
 Color components in the range [0,1]. More...
 
double getColorA () const
 Color components in the range [0,1]. More...
 
uint8_t getColorR_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorG_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorB_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorA_u8 () const
 Color components in the range [0,255]. More...
 
CRenderizablesetColorR (const double r)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorG (const double g)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorB (const double b)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorA (const double a)
 Color components in the range [0,1]. More...
 
CRenderizablesetScale (float s)
 Scale to apply to the object, in all three axes (default=1) More...
 
CRenderizablesetScale (float sx, float sy, float sz)
 Scale to apply to the object in each axis (default=1) More...
 
float getScaleX () const
 Get the current scaling factor in one axis. More...
 
float getScaleY () const
 Get the current scaling factor in one axis. More...
 
float getScaleZ () const
 Get the current scaling factor in one axis. More...
 
mrpt::utils::TColorf getColor () const
 Returns the object color property as a TColorf. More...
 
CRenderizablesetColor (const mrpt::utils::TColorf &c)
 
CRenderizablesetColor (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) More...
 
const mrpt::utils::TColorgetColor_u8 () const
 Returns the object color property as a TColor. More...
 

Static Public Member Functions

static CGeneralizedCylinderPtr Create (const std::vector< mrpt::math::TPoint3D > &axis, const std::vector< mrpt::math::TPoint3D > &generatrix)
 Creation of generalized cylinder from axis and generatrix. More...
 
static void renderTextBitmap (const char *str, void *fontStyle)
 This method is safe for calling from within render() methods. More...
 
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) More...
 
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(). More...
 

Static Public Attributes

RTTI stuff <br>
static const mrpt::utils::TRuntimeClassId classCRenderizableDisplayList
 
RTTI stuff <br>
static const mrpt::utils::TRuntimeClassId classCRenderizable
 

Protected Member Functions

void writeToStreamRender (utils::CStream &out) const
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 
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) More...
 
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. More...
 
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. More...
 
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). More...
 
static void releaseTextureName (unsigned int i)
 

Protected Attributes

mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t axis
 Cylinder's axis. More...
 
std::vector< mrpt::math::TPoint3Dgeneratrix
 Object's generatrix, that is, profile which will be extruded. More...
 
std::vector< TQuadrilateralmesh
 Mutable object with mesh information, used to avoid repeated computations. More...
 
mrpt::math::CMatrixTemplate< mrpt::math::TPoint3DpointsMesh
 Mutable object with the cylinder's points, used to avoid repeated computations. More...
 
bool meshUpToDate
 Mutable flag which tells if recalculations are needed. More...
 
std::vector< mrpt::math::TPolygonWithPlanepolys
 Mutable set of data used in ray tracing. More...
 
bool polysUpToDate
 Mutable flag telling whether ray tracing temporary data must be recalculated or not. More...
 
bool closed
 Boolean variable which determines if the profile is closed at each section. More...
 
bool fullyVisible
 Flag to determine whether the object is fully visible or only some sections are. More...
 
size_t firstSection
 First visible section, if fullyVisible is set to false. More...
 
size_t lastSection
 Last visible section, if fullyVisible is set to false. More...
 
std::string m_name
 
bool m_show_name
 
mrpt::utils::TColor m_color
 Color components in the range [0,255]. More...
 
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. More...
 
float m_scale_x
 
float m_scale_y
 
float m_scale_z
 Scale components to apply to the object (default=1) More...
 
bool m_visible
 Is the object visible? (default=true) More...
 

Private Member Functions

void generatePoses (const std::vector< mrpt::math::TPoint3D > &pIn, mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t &pOut)
 Updates the axis, transforming each point into a pose pointing to the next section. More...
 
void updateMesh () const
 Updates the mutable mesh. More...
 
void getMeshIterators (const std::vector< TQuadrilateral > &m, std::vector< TQuadrilateral >::const_iterator &begin, std::vector< TQuadrilateral >::const_iterator &end) const
 Given a vector of polyhedrons, gets the starting and ending iterators to the section to be actually rendered. More...
 
 CGeneralizedCylinder ()
 Basic constructor with default initialization. More...
 
 CGeneralizedCylinder (const std::vector< mrpt::math::TPoint3D > &a, const std::vector< mrpt::math::TPoint3D > &g)
 Constructor with axis and generatrix. More...
 
virtual ~CGeneralizedCylinder ()
 Destructor. More...
 

Private Attributes

unsigned int m_dl
 Display list ID, for derived classes that want to use it (it's automatically deleted and freed on destruction of this base class). More...
 
bool m_dl_recreate
 If using display lists, this is true when the list must be updated (the object changes, it's the first rendering, etc...). More...
 

RTTI stuff <br>

typedef CGeneralizedCylinderPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CGeneralizedCylinder
 
static mrpt::utils::TRuntimeClassId classCGeneralizedCylinder
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CGeneralizedCylinderPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 29 of file CGeneralizedCylinder.h.

Constructor & Destructor Documentation

◆ CGeneralizedCylinder() [1/2]

mrpt::opengl::CGeneralizedCylinder::CGeneralizedCylinder ( )
inlineprivate

Basic constructor with default initialization.

Definition at line 338 of file CGeneralizedCylinder.h.

◆ CGeneralizedCylinder() [2/2]

mrpt::opengl::CGeneralizedCylinder::CGeneralizedCylinder ( const std::vector< mrpt::math::TPoint3D > &  a,
const std::vector< mrpt::math::TPoint3D > &  g 
)
inlineprivate

Constructor with axis and generatrix.

Definition at line 342 of file CGeneralizedCylinder.h.

◆ ~CGeneralizedCylinder()

virtual mrpt::opengl::CGeneralizedCylinder::~CGeneralizedCylinder ( )
inlineprivatevirtual

Destructor.

Definition at line 348 of file CGeneralizedCylinder.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::opengl::CGeneralizedCylinder::_GetBaseClass ( )
staticprotected

◆ addVisibleSectionAtEnd()

void mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtEnd ( )
inline

Adds another visible section at the end of the cylinder.

The cylinder must have an invisible section to display.

Exceptions
std::logic_errorif there is no section to add to the displaying set.
See also
addVisibleSectionAtStart,removeVisibleSectionAtStart,removeVisibleSectionAtEnd

Definition at line 281 of file CGeneralizedCylinder.h.

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

◆ addVisibleSectionAtStart()

void mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtStart ( )
inline

Adds another visible section at the start of the cylinder.

The cylinder must have an invisble section to display.

Exceptions
std::logic_errorif there is no section to add to the displaying set.
See also
addVisibleSectionAtEnd,removeVisibleSectionAtStart,removeVisibleSectionAtEnd

Definition at line 271 of file CGeneralizedCylinder.h.

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

◆ checkOpenGLError()

static void mrpt::opengl::CRenderizable::checkOpenGLError ( )
staticprotectedinherited

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

◆ clone()

CRenderizableDisplayList * mrpt::opengl::CRenderizableDisplayList::clone ( ) const
inlineinherited

Interface for the stlplus smart pointer class.

Definition at line 71 of file CRenderizableDisplayList.h.

◆ Create() [1/2]

static CGeneralizedCylinderPtr mrpt::opengl::CGeneralizedCylinder::Create ( )
static

◆ Create() [2/2]

static CGeneralizedCylinderPtr mrpt::opengl::CGeneralizedCylinder::Create ( const std::vector< mrpt::math::TPoint3D > &  axis,
const std::vector< mrpt::math::TPoint3D > &  generatrix 
)
static

Creation of generalized cylinder from axis and generatrix.

◆ CreateObject()

static mrpt::utils::CObject * mrpt::opengl::CGeneralizedCylinder::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::opengl::CGeneralizedCylinder::duplicate ( ) const
virtual

◆ enableShowName()

void mrpt::opengl::CRenderizable::enableShowName ( bool  showName = true)
inlineinherited

Enables or disables showing the name of the object as a label when rendering.

Definition at line 69 of file CRenderizable.h.

◆ generatePoses()

void mrpt::opengl::CGeneralizedCylinder::generatePoses ( const std::vector< mrpt::math::TPoint3D > &  pIn,
mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t &  pOut 
)
private

Updates the axis, transforming each point into a pose pointing to the next section.

◆ generateSetOfPolygons()

void mrpt::opengl::CGeneralizedCylinder::generateSetOfPolygons ( std::vector< mrpt::math::TPolygon3D > &  res) const

Get the cylinder as a set of polygons in 3D.

See also
mrpt::math::TPolygon3D

◆ getAxis() [1/2]

void mrpt::opengl::CGeneralizedCylinder::getAxis ( mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t &  a) const
inline

Get axis, including angular coordinates.

Definition at line 148 of file CGeneralizedCylinder.h.

◆ getAxis() [2/2]

void mrpt::opengl::CGeneralizedCylinder::getAxis ( std::vector< mrpt::math::TPoint3D > &  a) const
inline

Get axis's spatial coordinates.

Definition at line 135 of file CGeneralizedCylinder.h.

◆ getBoundingBox()

void mrpt::opengl::CGeneralizedCylinder::getBoundingBox ( mrpt::math::TPoint3D bb_min,
mrpt::math::TPoint3D bb_max 
) const
virtual

Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent.

Implements mrpt::opengl::CRenderizable.

◆ getClosedSection() [1/2]

void mrpt::opengl::CGeneralizedCylinder::getClosedSection ( size_t  index,
CPolyhedronPtr poly 
) const
inline

Get a polyhedron consisting of a single section of the cylinder.

See also
mrpt::opengl::CPolyhedron

Definition at line 212 of file CGeneralizedCylinder.h.

◆ getClosedSection() [2/2]

void mrpt::opengl::CGeneralizedCylinder::getClosedSection ( size_t  index1,
size_t  index2,
CPolyhedronPtr poly 
) const

Get a polyhedron consisting of a set of closed sections of the cylinder.

See also
mrpt::opengl::CPolyhedron

◆ getColor()

mrpt::utils::TColorf mrpt::opengl::CRenderizable::getColor ( ) const
inlineinherited

Returns the object color property as a TColorf.

Definition at line 124 of file CRenderizable.h.

◆ getColor_u8()

const mrpt::utils::TColor & mrpt::opengl::CRenderizable::getColor_u8 ( ) const
inlineinherited

Returns the object color property as a TColor.

Definition at line 133 of file CRenderizable.h.

◆ getColorA()

double mrpt::opengl::CRenderizable::getColorA ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 100 of file CRenderizable.h.

◆ getColorA_u8()

uint8_t mrpt::opengl::CRenderizable::getColorA_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 105 of file CRenderizable.h.

◆ getColorB()

double mrpt::opengl::CRenderizable::getColorB ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 99 of file CRenderizable.h.

◆ getColorB_u8()

uint8_t mrpt::opengl::CRenderizable::getColorB_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 104 of file CRenderizable.h.

◆ getColorG()

double mrpt::opengl::CRenderizable::getColorG ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 98 of file CRenderizable.h.

◆ getColorG_u8()

uint8_t mrpt::opengl::CRenderizable::getColorG_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 103 of file CRenderizable.h.

◆ getColorR()

double mrpt::opengl::CRenderizable::getColorR ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 97 of file CRenderizable.h.

◆ getColorR_u8()

uint8_t mrpt::opengl::CRenderizable::getColorR_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 102 of file CRenderizable.h.

◆ getEnd()

void mrpt::opengl::CGeneralizedCylinder::getEnd ( CPolyhedronPtr poly) const

Get a polyhedron containing the ending point of the cylinder (its "base").

See also
getOrigin,mrpt::opengl::CPolyhedron

◆ getFirstSectionPose()

bool mrpt::opengl::CGeneralizedCylinder::getFirstSectionPose ( mrpt::poses::CPose3D p)

Gets the axis pose of the first section, returning false if there is no such pose.

◆ getFirstVisibleSectionPose()

bool mrpt::opengl::CGeneralizedCylinder::getFirstVisibleSectionPose ( mrpt::poses::CPose3D p)

Gets the axis pose of the first visible section, returning false if there is no such pose.

◆ getGeneratrix()

void mrpt::opengl::CGeneralizedCylinder::getGeneratrix ( std::vector< mrpt::math::TPoint3D > &  g) const
inline

Get cylinder's profile.

Definition at line 163 of file CGeneralizedCylinder.h.

◆ getLastSectionPose()

bool mrpt::opengl::CGeneralizedCylinder::getLastSectionPose ( mrpt::poses::CPose3D p)

Gets the axis pose of the last section, returning false if there is no such pose.

◆ getLastVisibleSectionPose()

bool mrpt::opengl::CGeneralizedCylinder::getLastVisibleSectionPose ( mrpt::poses::CPose3D p)

Gets the axis pose of the last section, returning false if there is no such pose.

◆ getMeshIterators()

void mrpt::opengl::CGeneralizedCylinder::getMeshIterators ( const std::vector< TQuadrilateral > &  m,
std::vector< TQuadrilateral >::const_iterator begin,
std::vector< TQuadrilateral >::const_iterator end 
) const
private

Given a vector of polyhedrons, gets the starting and ending iterators to the section to be actually rendered.

◆ getName()

const std::string & mrpt::opengl::CRenderizable::getName ( ) const
inlineinherited

Returns the name of the object.

Definition at line 64 of file CRenderizable.h.

◆ getNewTextureNumber()

static unsigned int mrpt::opengl::CRenderizable::getNewTextureNumber ( )
staticprotectedinherited

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).


◆ getNumberOfSections()

size_t mrpt::opengl::CGeneralizedCylinder::getNumberOfSections ( ) const
inline

Get the number of sections in this cylinder.

Definition at line 218 of file CGeneralizedCylinder.h.

◆ getOrigin()

void mrpt::opengl::CGeneralizedCylinder::getOrigin ( CPolyhedronPtr poly) const

Get a polyhedron containing the starting point of the cylinder (its "base").

See also
getEnd,mrpt::opengl::CPolyhedron

◆ getPose()

mrpt::math::TPose3D mrpt::opengl::CRenderizable::getPose ( ) const
inherited

Returns the 3D pose of the object as TPose3D.

◆ getPosePitch()

double mrpt::opengl::CRenderizable::getPosePitch ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 91 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

◆ getPosePitchRad()

double mrpt::opengl::CRenderizable::getPosePitchRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 94 of file CRenderizable.h.

◆ getPoseRef()

const mrpt::poses::CPose3D & mrpt::opengl::CRenderizable::getPoseRef ( ) const
inlineinherited

Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix)

Definition at line 79 of file CRenderizable.h.

◆ getPoseRoll()

double mrpt::opengl::CRenderizable::getPoseRoll ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 92 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

◆ getPoseRollRad()

double mrpt::opengl::CRenderizable::getPoseRollRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 95 of file CRenderizable.h.

◆ getPoseX()

double mrpt::opengl::CRenderizable::getPoseX ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 87 of file CRenderizable.h.

◆ getPoseY()

double mrpt::opengl::CRenderizable::getPoseY ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 88 of file CRenderizable.h.

◆ getPoseYaw()

double mrpt::opengl::CRenderizable::getPoseYaw ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 90 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

◆ getPoseYawRad()

double mrpt::opengl::CRenderizable::getPoseYawRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 93 of file CRenderizable.h.

◆ getPoseZ()

double mrpt::opengl::CRenderizable::getPoseZ ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 89 of file CRenderizable.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::opengl::CGeneralizedCylinder::GetRuntimeClass ( ) const
virtual

◆ getScaleX()

float mrpt::opengl::CRenderizable::getScaleX ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 119 of file CRenderizable.h.

◆ getScaleY()

float mrpt::opengl::CRenderizable::getScaleY ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 120 of file CRenderizable.h.

◆ getScaleZ()

float mrpt::opengl::CRenderizable::getScaleZ ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 121 of file CRenderizable.h.

◆ getVisibleSections() [1/2]

size_t mrpt::opengl::CGeneralizedCylinder::getVisibleSections ( ) const
inline

Get how many visible sections are in the cylinder.

Definition at line 224 of file CGeneralizedCylinder.h.

◆ getVisibleSections() [2/2]

void mrpt::opengl::CGeneralizedCylinder::getVisibleSections ( size_t &  first,
size_t &  last 
) const
inline

Gets the cylinder's visible sections.

Definition at line 230 of file CGeneralizedCylinder.h.

◆ isClosed()

bool mrpt::opengl::CGeneralizedCylinder::isClosed ( ) const
inline

Returns true if each section is a closed polygon.

Definition at line 177 of file CGeneralizedCylinder.h.

◆ isShowNameEnabled()

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const
inlineinherited
See also
enableShowName

Definition at line 70 of file CRenderizable.h.

◆ isVisible()

bool mrpt::opengl::CRenderizable::isVisible ( ) const
inlineinherited

Is the object visible?

See also
setVisibility

Definition at line 66 of file CRenderizable.h.

◆ notifyChange()

EIGEN_STRONG_INLINE void mrpt::opengl::CRenderizableDisplayList::notifyChange ( ) const
inlineprotectedinherited

Must be called to notify that the object has changed (so, the display list must be updated)

Definition at line 49 of file CRenderizableDisplayList.h.

Referenced by addVisibleSectionAtEnd(), addVisibleSectionAtStart(), mrpt::opengl::CMesh::adjustGridToImageAR(), mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CSetOfLines::begin(), mrpt::opengl::CSetOfLines::clear(), mrpt::opengl::CVectorField2D::clear(), mrpt::opengl::CVectorField3D::clear(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::COpenGLStandardObject::enable(), mrpt::opengl::CGridPlaneXY::enableAntiAliasing(), mrpt::opengl::CGridPlaneXZ::enableAntiAliasing(), mrpt::opengl::CSetOfLines::enableAntiAliasing(), mrpt::opengl::CSimpleLine::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), mrpt::opengl::CVectorField3D::enableAntiAliasing(), mrpt::opengl::CMesh3D::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::CMeshFast::enableColorFromZ(), mrpt::opengl::COctoMapVoxels::enableCubeTransparency(), mrpt::opengl::CEllipsoid::enableDrawSolid3D(), mrpt::opengl::C3DSScene::enableExtraAmbientLight(), mrpt::opengl::CMesh3D::enableFaceNormals(), mrpt::opengl::COctoMapVoxels::enableLights(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CSphere::enableRadiusIndependentOfEyeDistance(), mrpt::opengl::CMesh3D::enableShowEdges(), mrpt::opengl::CMesh3D::enableShowFaces(), mrpt::opengl::CVectorField3D::enableShowPoints(), mrpt::opengl::CMesh3D::enableShowVertices(), mrpt::opengl::CPlanarLaserScan::enableSurface(), mrpt::opengl::CAxis::enableTickMarks(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CMesh3D::enableTransparency(), mrpt::opengl::CMeshFast::enableTransparency(), mrpt::opengl::CSetOfTriangles::enableTransparency(), mrpt::opengl::CMesh::enableWireFrame(), mrpt::opengl::CSetOfLines::end(), mrpt::opengl::COctoMapVoxels::getGridCubeRef(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), mrpt::opengl::COctoMapVoxels::getVoxel(), mrpt::opengl::COctoMapVoxels::getVoxelRef(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::opengl::CSetOfLines::reserve(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), mrpt::opengl::CSetOfLines::resize(), mrpt::opengl::CVectorField2D::resize(), mrpt::opengl::CVectorField3D::resize(), mrpt::opengl::COctoMapVoxels::resizeGridCubes(), mrpt::opengl::COctoMapVoxels::resizeVoxels(), mrpt::opengl::COctoMapVoxels::resizeVoxelSets(), mrpt::opengl::CEllipsoid::set2DsegmentsCount(), mrpt::opengl::CEllipsoid::set3DsegmentsCount(), setAllSectionsInvisible(), setAllSectionsVisible(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CArrow::setArrowYawPitchRoll(), setAxis(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), setClosed(), mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::COpenGLStandardObject::setFlags(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), setGeneratrix(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CVectorField2D::setGridLimits(), mrpt::opengl::CMesh::setGridLimits(), mrpt::opengl::CMeshFast::setGridLimits(), mrpt::opengl::COctoMapVoxels::setGridLinesColor(), mrpt::opengl::COctoMapVoxels::setGridLinesWidth(), mrpt::opengl::CCylinder::setHasBases(), mrpt::opengl::CArrow::setHeadRatio(), mrpt::opengl::CCylinder::setHeight(), mrpt::opengl::CArrow::setLargeRadius(), mrpt::opengl::CSetOfLines::setLineByIndex(), mrpt::opengl::CSimpleLine::setLineCoords(), mrpt::opengl::CVectorField2D::setLineWidth(), mrpt::opengl::CVectorField3D::setLineWidth(), mrpt::opengl::CPolyhedron::setLineWidth(), mrpt::opengl::CAxis::setLineWidth(), mrpt::opengl::CEllipsoid::setLineWidth(), mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setLineWidth(), mrpt::opengl::CGridPlaneXY::setLineWidth(), mrpt::opengl::CGridPlaneXZ::setLineWidth(), mrpt::opengl::CSetOfLines::setLineWidth(), mrpt::opengl::CSimpleLine::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CFrustum::setLineWidth(), mrpt::opengl::CDisk::setLoopsCount(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::COpenGLStandardObject::setNormal(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CSphere::setNumberDivsLongitude(), mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setNumberOfSegments(), mrpt::opengl::CFrustum::setPlaneColor(), mrpt::opengl::CTexturedPlane::setPlaneCorners(), mrpt::opengl::CGridPlaneXY::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneYcoord(), mrpt::opengl::CGridPlaneXY::setPlaneZcoord(), mrpt::opengl::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CVectorField2D::setPointSize(), mrpt::opengl::CVectorField3D::setPointSize(), mrpt::opengl::CEllipsoid::setQuantiles(), mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setQuantiles(), mrpt::opengl::CCylinder::setRadii(), mrpt::opengl::CSphere::setRadius(), mrpt::opengl::CCylinder::setRadius(), mrpt::opengl::CPlanarLaserScan::setScan(), mrpt::opengl::CDisk::setSlicesCount(), mrpt::opengl::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CCylinder::setStacksCount(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CTexturedPlane::setTextureCornerCoords(), mrpt::opengl::CVectorField2D::setVectorField(), mrpt::opengl::CVectorField3D::setVectorField(), mrpt::opengl::CVectorField2D::setVectorFieldColor(), mrpt::opengl::CVectorField3D::setVectorFieldColor(), setVisibleSections(), mrpt::opengl::COctoMapVoxels::setVisualizationMode(), mrpt::opengl::COctoMapVoxels::setVoxelAsPointsSize(), mrpt::opengl::CAngularObservationMesh::setWireframe(), mrpt::opengl::CPolyhedron::setWireframe(), mrpt::opengl::CBox::setWireframe(), mrpt::opengl::CMesh::setXBounds(), mrpt::opengl::CMeshFast::setXBounds(), mrpt::opengl::CMesh::setXMax(), mrpt::opengl::CMeshFast::setXMax(), mrpt::opengl::CMesh::setXMin(), mrpt::opengl::CMeshFast::setXMin(), mrpt::opengl::CMesh::setYBounds(), mrpt::opengl::CMeshFast::setYBounds(), mrpt::opengl::CMesh::setYMax(), mrpt::opengl::CMeshFast::setYMax(), mrpt::opengl::CMesh::setYMin(), mrpt::opengl::CMeshFast::setYMin(), mrpt::opengl::COctoMapVoxels::showGridLines(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::showVoxelsAsPoints(), and mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::thisclass_readFromStream().

◆ readFromStream()

void mrpt::opengl::CGeneralizedCylinder::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ readFromStreamRender()

void mrpt::opengl::CRenderizableDisplayList::readFromStreamRender ( mrpt::utils::CStream in)
inlineprotectedinherited

◆ releaseTextureName()

static void mrpt::opengl::CRenderizable::releaseTextureName ( unsigned int  i)
staticprotectedinherited

◆ removeVisibleSectionAtEnd()

void mrpt::opengl::CGeneralizedCylinder::removeVisibleSectionAtEnd ( )

Removes a visible section from the ending of the currently visible set.

Exceptions
std::logic_errorwhen there is no such section.
See also
addVisibleSectionAtStart,addVisibleSectionAtEnd,removeVisibleSectionAtStart

◆ removeVisibleSectionAtStart()

void mrpt::opengl::CGeneralizedCylinder::removeVisibleSectionAtStart ( )

Removes a visible section from the start of the currently visible set.

Exceptions
std::logic_errorif there are no visible sections.
See also
addVisibleSectionAtStart,addVisibleSectionAtEnd,removeVisibleSectionAtEnd

◆ render()

void mrpt::opengl::CRenderizableDisplayList::render ( ) const
virtualinherited

Render the object, regenerating the display list if needed, otherwise just calling it.

Implements mrpt::opengl::CRenderizable.

◆ render_dl()

void mrpt::opengl::CGeneralizedCylinder::render_dl ( ) const
virtual

◆ renderTextBitmap() [1/2]

static void mrpt::opengl::CRenderizable::renderTextBitmap ( const char *  str,
void *  fontStyle 
)
staticinherited

This method is safe for calling from within render() methods.

See also
renderTextBitmap, mrpt::opengl::gl_utils

◆ renderTextBitmap() [2/2]

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 
)
staticinherited

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

◆ setAllSectionsInvisible()

void mrpt::opengl::CGeneralizedCylinder::setAllSectionsInvisible ( size_t  pointer = 0)
inline

Hides all sections.

Definition at line 249 of file CGeneralizedCylinder.h.

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

◆ setAllSectionsVisible()

void mrpt::opengl::CGeneralizedCylinder::setAllSectionsVisible ( )
inline

Sets all sections visible.

Definition at line 242 of file CGeneralizedCylinder.h.

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

◆ setAxis()

void mrpt::opengl::CGeneralizedCylinder::setAxis ( const std::vector< mrpt::math::TPoint3D > &  a)
inline

Set the axis points.

Definition at line 154 of file CGeneralizedCylinder.h.

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

◆ setClosed()

void mrpt::opengl::CGeneralizedCylinder::setClosed ( bool  c = true)
inline

Set whether each section is a closed polygon or not.

Definition at line 183 of file CGeneralizedCylinder.h.

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

◆ setColor() [1/2]

CRenderizable & mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf c)
inlineinherited
Parameters
cChanges the default object color
Returns
a ref to this

Definition at line 125 of file CRenderizable.h.

References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, and mrpt::utils::TColorf::R.

◆ setColor() [2/2]

CRenderizable & mrpt::opengl::CRenderizable::setColor ( double  R,
double  G,
double  B,
double  A = 1 
)
inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns
a ref to this

Definition at line 131 of file CRenderizable.h.

◆ setColor_u8() [1/2]

CRenderizable & mrpt::opengl::CRenderizableDisplayList::setColor_u8 ( const mrpt::utils::TColor c)
inlinevirtualinherited

Changes the default object color.

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 86 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizable::setColor_u8().

◆ setColor_u8() [2/2]

CRenderizable & mrpt::opengl::CRenderizable::setColor_u8 ( uint8_t  R,
uint8_t  G,
uint8_t  B,
uint8_t  A = 255 
)
inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns
a ref to this

Definition at line 138 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColor_u8().

Referenced by mrpt::opengl::CRenderizable::setColor_u8().

◆ setColorA()

CRenderizable & mrpt::opengl::CRenderizable::setColorA ( const double  a)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 110 of file CRenderizable.h.

◆ setColorA_u8()

CRenderizable & mrpt::opengl::CRenderizableDisplayList::setColorA_u8 ( const uint8_t  a)
inlinevirtualinherited

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 85 of file CRenderizableDisplayList.h.

◆ setColorB()

CRenderizable & mrpt::opengl::CRenderizable::setColorB ( const double  b)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 109 of file CRenderizable.h.

◆ setColorB_u8()

CRenderizable & mrpt::opengl::CRenderizableDisplayList::setColorB_u8 ( const uint8_t  b)
inlinevirtualinherited

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 84 of file CRenderizableDisplayList.h.

◆ setColorG()

CRenderizable & mrpt::opengl::CRenderizable::setColorG ( const double  g)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 108 of file CRenderizable.h.

◆ setColorG_u8()

CRenderizable & mrpt::opengl::CRenderizableDisplayList::setColorG_u8 ( const uint8_t  g)
inlinevirtualinherited

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 83 of file CRenderizableDisplayList.h.

◆ setColorR()

CRenderizable & mrpt::opengl::CRenderizable::setColorR ( const double  r)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 107 of file CRenderizable.h.

◆ setColorR_u8()

CRenderizable & mrpt::opengl::CRenderizableDisplayList::setColorR_u8 ( const uint8_t  r)
inlinevirtualinherited

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 82 of file CRenderizableDisplayList.h.

◆ setGeneratrix()

void mrpt::opengl::CGeneralizedCylinder::setGeneratrix ( const std::vector< mrpt::math::TPoint3D > &  g)
inline

Set cylinder's profile.

Definition at line 169 of file CGeneralizedCylinder.h.

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

◆ setLocation() [1/2]

CRenderizable & mrpt::opengl::CRenderizable::setLocation ( const mrpt::math::TPoint3D p)
inlineinherited

Changes the location of the object, keeping untouched the orientation.

Returns
a ref to this

Definition at line 85 of file CRenderizable.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ setLocation() [2/2]

CRenderizable & mrpt::opengl::CRenderizable::setLocation ( double  x,
double  y,
double  z 
)
inlineinherited

Changes the location of the object, keeping untouched the orientation.

Returns
a ref to this

Definition at line 82 of file CRenderizable.h.

◆ setName()

void mrpt::opengl::CRenderizable::setName ( const std::string &  n)
inlineinherited

Changes the name of the object.

Definition at line 63 of file CRenderizable.h.

◆ setPose() [1/4]

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)

◆ setPose() [2/4]

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)

◆ setPose() [3/4]

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)

◆ setPose() [4/4]

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)

◆ setScale() [1/2]

CRenderizable & mrpt::opengl::CRenderizable::setScale ( float  s)
inlineinherited

Scale to apply to the object, in all three axes (default=1)

Returns
a ref to this

Definition at line 117 of file CRenderizable.h.

◆ setScale() [2/2]

CRenderizable & mrpt::opengl::CRenderizable::setScale ( float  sx,
float  sy,
float  sz 
)
inlineinherited

Scale to apply to the object in each axis (default=1)

Returns
a ref to this

Definition at line 118 of file CRenderizable.h.

◆ setVisibility()

void mrpt::opengl::CRenderizable::setVisibility ( bool  visible = true)
inlineinherited

Set object visibility (default=true)

See also
isVisible

Definition at line 67 of file CRenderizable.h.

◆ setVisibleSections()

void mrpt::opengl::CGeneralizedCylinder::setVisibleSections ( size_t  first,
size_t  last 
)
inline

Sets which sections are visible.

Exceptions
std::logic_erroron wrongly defined bounds.

Definition at line 259 of file CGeneralizedCylinder.h.

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

◆ should_skip_display_list_cache()

virtual bool mrpt::opengl::CRenderizableDisplayList::should_skip_display_list_cache ( ) const
inlineprotectedvirtualinherited

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 56 of file CRenderizableDisplayList.h.

◆ textBitmapWidth()

static int mrpt::opengl::CRenderizable::textBitmapWidth ( const std::string &  str,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
staticinherited

Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().

See also
renderTextBitmap, mrpt::opengl::gl_utils

◆ traceRay()

bool mrpt::opengl::CGeneralizedCylinder::traceRay ( const mrpt::poses::CPose3D o,
double &  dist 
) const
virtual

Ray tracing.

See also
mrpt::opengl::CRenderizable.

Reimplemented from mrpt::opengl::CRenderizable.

◆ updateMesh()

void mrpt::opengl::CGeneralizedCylinder::updateMesh ( ) const
private

Updates the mutable mesh.

◆ updatePolys()

void mrpt::opengl::CGeneralizedCylinder::updatePolys ( ) const

Updates the mutable set of polygons used in ray tracing.

◆ writeToStream()

void mrpt::opengl::CGeneralizedCylinder::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

◆ writeToStreamRender()

void mrpt::opengl::CRenderizable::writeToStreamRender ( utils::CStream out) const
protectedinherited

Member Data Documentation

◆ _init_CGeneralizedCylinder

mrpt::utils::CLASSINIT mrpt::opengl::CGeneralizedCylinder::_init_CGeneralizedCylinder
staticprotected

Definition at line 29 of file CGeneralizedCylinder.h.

◆ axis

mrpt::aligned_containers<mrpt::poses::CPose3D>::vector_t mrpt::opengl::CGeneralizedCylinder::axis
protected

Cylinder's axis.

It's represented as a pose because it holds the angle to get to the next pose.

Definition at line 87 of file CGeneralizedCylinder.h.

◆ classCGeneralizedCylinder

mrpt::utils::TRuntimeClassId mrpt::opengl::CGeneralizedCylinder::classCGeneralizedCylinder
static

Definition at line 29 of file CGeneralizedCylinder.h.

◆ classCRenderizable

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizable::classCRenderizable
staticinherited

Definition at line 46 of file CRenderizable.h.

◆ classCRenderizableDisplayList

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizableDisplayList::classCRenderizableDisplayList
staticinherited

Definition at line 38 of file CRenderizableDisplayList.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::opengl::CGeneralizedCylinder::classinfo
static

Definition at line 29 of file CGeneralizedCylinder.h.

◆ closed

bool mrpt::opengl::CGeneralizedCylinder::closed
protected

Boolean variable which determines if the profile is closed at each section.

Definition at line 104 of file CGeneralizedCylinder.h.

◆ firstSection

size_t mrpt::opengl::CGeneralizedCylinder::firstSection
protected

First visible section, if fullyVisible is set to false.

See also
fullyVisible,lastSection

Definition at line 111 of file CGeneralizedCylinder.h.

◆ fullyVisible

bool mrpt::opengl::CGeneralizedCylinder::fullyVisible
protected

Flag to determine whether the object is fully visible or only some sections are.

Definition at line 106 of file CGeneralizedCylinder.h.

◆ generatrix

std::vector<mrpt::math::TPoint3D> mrpt::opengl::CGeneralizedCylinder::generatrix
protected

Object's generatrix, that is, profile which will be extruded.

Definition at line 89 of file CGeneralizedCylinder.h.

◆ lastSection

size_t mrpt::opengl::CGeneralizedCylinder::lastSection
protected

Last visible section, if fullyVisible is set to false.

See also
fullyVisible,firstSection

Definition at line 116 of file CGeneralizedCylinder.h.

◆ m_color

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color
protectedinherited

Color components in the range [0,255].

Definition at line 54 of file CRenderizable.h.

◆ m_dl

unsigned int mrpt::opengl::CRenderizableDisplayList::m_dl
mutableprivateinherited

Display list ID, for derived classes that want to use it (it's automatically deleted and freed on destruction of this base class).

Definition at line 41 of file CRenderizableDisplayList.h.

◆ m_dl_recreate

bool mrpt::opengl::CRenderizableDisplayList::m_dl_recreate
mutableprivateinherited

If using display lists, this is true when the list must be updated (the object changes, it's the first rendering, etc...).

Definition at line 42 of file CRenderizableDisplayList.h.

◆ m_name

std::string mrpt::opengl::CRenderizable::m_name
protectedinherited

Definition at line 52 of file CRenderizable.h.

◆ m_pose

mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose
protectedinherited

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 55 of file CRenderizable.h.

Referenced by mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::render_dl().

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x
protectedinherited

Definition at line 56 of file CRenderizable.h.

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y
protectedinherited

Definition at line 56 of file CRenderizable.h.

◆ m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z
protectedinherited

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

Definition at line 56 of file CRenderizable.h.

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name
protectedinherited

Definition at line 53 of file CRenderizable.h.

◆ m_visible

bool mrpt::opengl::CRenderizable::m_visible
protectedinherited

Is the object visible? (default=true)

Definition at line 57 of file CRenderizable.h.

◆ mesh

std::vector<TQuadrilateral> mrpt::opengl::CGeneralizedCylinder::mesh
mutableprotected

Mutable object with mesh information, used to avoid repeated computations.


Definition at line 91 of file CGeneralizedCylinder.h.

◆ meshUpToDate

bool mrpt::opengl::CGeneralizedCylinder::meshUpToDate
mutableprotected

Mutable flag which tells if recalculations are needed.

Definition at line 95 of file CGeneralizedCylinder.h.

◆ pointsMesh

mrpt::math::CMatrixTemplate<mrpt::math::TPoint3D> mrpt::opengl::CGeneralizedCylinder::pointsMesh
mutableprotected

Mutable object with the cylinder's points, used to avoid repeated computations.

Definition at line 93 of file CGeneralizedCylinder.h.

◆ polys

std::vector<mrpt::math::TPolygonWithPlane> mrpt::opengl::CGeneralizedCylinder::polys
mutableprotected

Mutable set of data used in ray tracing.

See also
mrpt::math::TPolygonWithPlane

Definition at line 100 of file CGeneralizedCylinder.h.

◆ polysUpToDate

bool mrpt::opengl::CGeneralizedCylinder::polysUpToDate
mutableprotected

Mutable flag telling whether ray tracing temporary data must be recalculated or not.

Definition at line 102 of file CGeneralizedCylinder.h.




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