primitives.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
//
// This file is part of g2o.
// 
// g2o is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
// 
// g2o is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
// 
// You should have received a copy of the GNU General Public License
// along with g2o.  If not, see <http://www.gnu.org/licenses/>.

#ifndef PRIMITIVES_H
#define PRIMITIVES_H

// @{

#include <qgl.h>

namespace g2o {

void drawBox(GLfloat l, GLfloat w, GLfloat h);

void drawPlane(GLfloat l, GLfloat w);

void drawSphere(GLfloat radius);

void drawEllipsoid(GLfloat r1, GLfloat r2, GLfloat r3);

void drawCone(GLfloat radius, GLfloat height);

void drawDisk(GLfloat radius);

void drawCylinder(GLfloat radius, GLfloat height);

void drawPyramid(GLfloat length, GLfloat height);

void drawRangeRing(GLfloat range, GLfloat fov, GLfloat range_width = 0.05);

void drawSlice(GLfloat radius, GLfloat height, GLfloat fov, int slices_per_circle = 32);

void drawPoseBox();

void drawArrow(float length=1.0f, float radius=-1.0f, int nbSubdivisions=12);

void drawArrow2D(float len, float head_width, float head_len);

void drawAxis(float length = 1.f);

void drawGrid(float size=1.0f, int nbSubdivisions=10);

// @}

} // end namespace

#endif