LaserReadingRenderer.cpp

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#include "LaserReadingRenderer.h"

LaserReadingRenderer::LaserReadingRenderer(const std::vector<Point2D> *_points, const std::vector<double> &normals):
    m_laserPoints(_points),
    m_laserNormals(normals),
    m_GLUPoints(0),
    m_laserPose(NULL),
    m_color(0.0f, 0.0f, 0.0f, 1.0f)
{ 
    m_list = glGenLists(1);
    if(m_laserPoints){
        m_GLUPoints.resize(m_laserPoints->size());
        for(unsigned int i = 0; i < m_GLUPoints.size(); i++){
            m_GLUPoints[i] = gluNewQuadric();
        }
    }

    m_pointSize = 0.02f;
    setSubdivision(6, 3);
    m_depth = 0.f;
    m_listValid=false;
}

LaserReadingRenderer::~LaserReadingRenderer(){
    for(unsigned int i = 0; i < m_GLUPoints.size(); i++){
        gluDeleteQuadric(m_GLUPoints[i]);
    }
    glDeleteLists(m_list,1);
}

LaserReadingRenderer::LaserReadingRenderer(const LaserReadingRenderer& _renderer):
    m_laserPoints(_renderer.getLaserPoints()),
    m_laserNormals(_renderer.getLaserNormals()),
    m_GLUPoints(0),
    m_laserPose(_renderer.m_laserPose),
    m_color(_renderer.m_color)
{
    m_list = glGenLists(1);
    if(m_laserPoints){
        m_GLUPoints.resize(m_laserPoints->size());
        for(unsigned int i = 0; i < m_GLUPoints.size(); i++){
            m_GLUPoints[i] = gluNewQuadric();
        }
    }
    m_pointSize = _renderer.getSize();
    _renderer.getSubdivision(m_subdivision[0], m_subdivision[1]);
    m_depth = _renderer.m_depth;
    m_listValid=false;
}

LaserReadingRenderer& LaserReadingRenderer::operator=(const LaserReadingRenderer& _renderer){
    setLaserPoints(_renderer.getLaserPoints(), _renderer.getLaserNormals());
    m_laserPose = _renderer.m_laserPose;
    m_color = _renderer.getColor();
    m_pointSize = _renderer.getSize();
    _renderer.getSubdivision(m_subdivision[0], m_subdivision[1]);
    m_depth = _renderer.m_depth;
    m_listValid=false;
    return *this;
}

void LaserReadingRenderer::setLaserPoints(const std::vector<Point2D> *_points, const std::vector<double>& normals){
    m_laserPoints = _points;
    m_laserPose = NULL;
    
    if(!m_laserPoints) return;
    
    if (normals.size() == m_laserPoints->size()){
        m_laserNormals = normals;
    } else {
        m_laserNormals.clear();
    }
    if(m_laserPoints->size() == m_GLUPoints.size()) return;
    
    unsigned int i = m_laserPoints ? m_laserPoints->size() : 0;
    for(; i < m_GLUPoints.size(); i++){
        gluDeleteQuadric(m_GLUPoints[i]);
    }
    
    i = m_GLUPoints.size();
    if(m_laserPoints){
        m_GLUPoints.resize(m_laserPoints->size());
        for(; i < m_GLUPoints.size(); i++){
            m_GLUPoints[i] = gluNewQuadric();
        }
    }
    m_listValid=false;
}
        
void LaserReadingRenderer::render(){
    if(!m_listValid)
        makeList();
    glCallList(m_list);
}

void LaserReadingRenderer::makeList(){
//     std::cout << "Making the list" << std::endl;
    glNewList(m_list, GL_COMPILE);
    if(!m_laserPoints) {
        glEndList();
//      std::cout << "\tNo points found!" << std::endl;
        return;
    }
    glPushMatrix();
    glColor4f(m_color.red(), m_color.green(), m_color.blue(), m_color.alpha());
    glTranslatef(0.f, 0.f, m_depth);
    if(m_laserPose){
//      glPushMatrix();
        glTranslatef(m_laserPose->x, m_laserPose->y, 0.f);
        glRotatef(rad2deg(m_laserPose->theta),0.f,0.f,1.f);
        glBegin(GL_TRIANGLES);
            glVertex3f( 0.0f, -0.2f, 0.f);
            glVertex3f( 0.4f,  0.0f, 0.f);
            glVertex3f( 0.0f,  0.2f, 0.f);
        glEnd();
//      glPopMatrix();
    }
    
    glBegin(GL_POINTS);
    for (unsigned int index = 0; m_laserPoints && index < m_laserPoints->size(); index++) {
        glVertex3f((*m_laserPoints)[index].x, (*m_laserPoints)[index].y, 0.f);
    }
    glEnd();
    
    for (unsigned int index = 0; m_laserPoints && m_laserNormals.size() && index < m_laserPoints->size(); index++) {
        glPushMatrix();
        if(m_laserNormals.size()){
            glTranslated((*m_laserPoints)[index].x, (*m_laserPoints)[index].y, 0.f);
            glBegin(GL_LINES);
                glVertex3f(0.f, 0.f, 0.f);
                glVertex3f(cos(m_laserNormals[index]), sin(m_laserNormals[index]), 0.f);
            glEnd();
        }
//      gluSphere(m_GLUPoints[index], m_pointSize, m_subdivision[0], m_subdivision[1]);
        glPopMatrix();
    }
    glPopMatrix();
    glEndList();
//     std::cout << "List Completed" << std::endl;
}

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flirtlib
Author(s): Bhaskara Marthi, Gian Diego Tipaldi
autogenerated on Fri Jan 11 11:15:28 2013