Trajectories.java

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package edu.tum.cs.ias.knowrob.vis.items;

import java.util.Vector;

import edu.tum.cs.ias.knowrob.vis.Canvas;



public class Trajectories extends ItemBase{
        public float pointSize = 0.0f, sphereSize = 120.0f;
        public int pointColor = 0xffcbcbcb, sphereColor = 0x99ffff00;
        public int lineColor = 0xffffffff;
        public Vector<Point> pointsTraj;
        public Vector<Point> point;
        public int cont =0;
        
        public Trajectories() {
                pointsTraj = new Vector<Point>();
        }
        
        public void addTraj(float x, float y, float z) {
                pointsTraj.add(new Point(x, y, z, pointColor, pointSize));
        }
        
        public void addPoint(float x, float y, float z, float radius){
                point.add(new Point(x,y,z,pointColor, pointSize));
        }
        
        public void draw(Canvas c, int step) {
                c.pushMatrix();
                //c.scale(100);
                
                Point prev=null;
                c.sphereDetail(3);
        
                for(Point p : pointsTraj) {
                p.draw(c);
                //System.out.println("p.v= "+p.v);
                if (cont<=0 && p.v.x!=0 ){
                        prev=p; 
                        //System.out.println("prev: "+prev.v);
                        
                        cont++;
                } else if (p.v.x !=0) {
                         // draw line connecting previous point with current point
                                //System.out.println("prev: " +prev.v +" current: "+p.v);
                                c.drawLine(prev.v, p.v, lineColor);
                                
                                //add the point
                                prev = p;
                                //System.out.println("p.v= "+p.v);
                        } else if (p.v.x==0){
                                cont=0;
                                //lineColor=0xFFFF0000;
                                //System.out.println("0000000");
                          }
                        
                }
                c.sphereDetail(30);
                c.popMatrix();
        }
        
}