pose_graph_vis3d.h
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00001 // HOG-Man - Hierarchical Optimization for Pose Graphs on Manifolds
00002 // Copyright (C) 2010 G. Grisetti, R. K├╝mmerle, C. Stachniss
00003 //
00004 // This file is part of HOG-Man.
00005 // 
00006 // HOG-Man is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // (at your option) any later version.
00010 // 
00011 // HOG-Man is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU General Public License for more details.
00015 // 
00016 // You should have received a copy of the GNU General Public License
00017 // along with HOG-Man.  If not, see <http://www.gnu.org/licenses/>.
00018 
00019 #ifndef VIS_POSE_GRAPH_SHARED_H
00020 #define VIS_POSE_GRAPH_SHARED_H
00021 
00022 #include <vector>
00023 #include <iostream>
00024 #include <qgl.h>
00025 
00026 namespace AISNavigation {
00027  
00028 // forward declarartion
00029 class PoseGraph3D;
00030 
00034 class PoseGraph3DVis
00035 {
00036   public:
00037     struct HEdge
00038     {
00039       int id1, id2;
00040     };
00041     typedef std::vector<HEdge> HEdgeVector;
00042 
00043     struct Color
00044     {
00045       float r,g,b;
00046       Color(float r_, float g_, float b_) : r(r_), g(g_), b(b_)  {}
00047     };
00048 
00049   public:
00050     PoseGraph3DVis();
00051     ~PoseGraph3DVis();
00052 
00053     virtual void draw() const;
00054 
00055     void writeVrml(std::ostream& os) const;
00056 
00058     const PoseGraph3D* getGraph() const {return _graph;}
00059     PoseGraph3D* getGraph() {return _graph;}
00061     void setGraph(PoseGraph3D* graph);
00062 
00063     void setHirarchy(std::vector<PoseGraph3DVis::HEdgeVector>* hirarchy);
00064 
00066     bool getUseDrawList() const { return _useDrawList; }
00067     void setUseDrawList(bool useDrawList) { _useDrawList = useDrawList; if (useDrawList) _updateDrawList = true;}
00068 
00070     bool getUpdateDrawList() const { return _updateDrawList; }
00071     void setUpdateDrawList(bool update) { _updateDrawList = update; }
00072 
00073     bool getDrawGraph() const { return _drawOptions[0];}
00074     void setDrawGraph(bool draw);
00075     bool getDrawHirarchy() const { return _drawOptions[1];}
00076     void setDrawHirarchy(bool draw);
00077 
00078   protected:
00079     // draw routines
00080     void drawGraph() const;
00081     void drawHirarchy() const;
00082 
00083     // routines to output to vrml file
00084     void writeGraph(std::ostream& os) const;
00085     void writeHirarchy(std::ostream& os) const;
00086 
00087     PoseGraph3D* _graph;
00088     std::vector<HEdgeVector>* _hirarchy;
00089     std::vector<Color> _colors;
00090 
00091     mutable bool _updateDrawList;
00092     mutable bool _useDrawList;
00093     mutable GLuint _drawList;
00094     mutable bool _listAllocated;
00095     std::vector<bool> _drawOptions;
00096 };
00097 
00098 } // end namespace
00099 
00100 #endif


hogman_minimal
Author(s): Maintained by Juergen Sturm
autogenerated on Mon Oct 6 2014 00:06:58