pose_graph_vis3d.h

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// HOG-Man - Hierarchical Optimization for Pose Graphs on Manifolds
// Copyright (C) 2010 G. Grisetti, R. Kümmerle, C. Stachniss
//
// This file is part of HOG-Man.
// 
// HOG-Man 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.
// 
// HOG-Man 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 HOG-Man.  If not, see <http://www.gnu.org/licenses/>.

#ifndef VIS_POSE_GRAPH_SHARED_H
#define VIS_POSE_GRAPH_SHARED_H

#include <vector>
#include <iostream>
#include <qgl.h>

namespace AISNavigation {
 
// forward declarartion
class PoseGraph3D;

class PoseGraph3DVis
{
  public:
    struct HEdge
    {
      int id1, id2;
    };
    typedef std::vector<HEdge> HEdgeVector;

    struct Color
    {
      float r,g,b;
      Color(float r_, float g_, float b_) : r(r_), g(g_), b(b_)  {}
    };

  public:
    PoseGraph3DVis();
    ~PoseGraph3DVis();

    virtual void draw() const;

    void writeVrml(std::ostream& os) const;

    const PoseGraph3D* getGraph() const {return _graph;}
    PoseGraph3D* getGraph() {return _graph;}
    void setGraph(PoseGraph3D* graph);

    void setHirarchy(std::vector<PoseGraph3DVis::HEdgeVector>* hirarchy);

    bool getUseDrawList() const { return _useDrawList; }
    void setUseDrawList(bool useDrawList) { _useDrawList = useDrawList; if (useDrawList) _updateDrawList = true;}

    bool getUpdateDrawList() const { return _updateDrawList; }
    void setUpdateDrawList(bool update) { _updateDrawList = update; }

    bool getDrawGraph() const { return _drawOptions[0];}
    void setDrawGraph(bool draw);
    bool getDrawHirarchy() const { return _drawOptions[1];}
    void setDrawHirarchy(bool draw);

  protected:
    // draw routines
    void drawGraph() const;
    void drawHirarchy() const;

    // routines to output to vrml file
    void writeGraph(std::ostream& os) const;
    void writeHirarchy(std::ostream& os) const;

    PoseGraph3D* _graph;
    std::vector<HEdgeVector>* _hirarchy;
    std::vector<Color> _colors;

    mutable bool _updateDrawList;
    mutable bool _useDrawList;
    mutable GLuint _drawList;
    mutable bool _listAllocated;
    std::vector<bool> _drawOptions;
};

} // end namespace

#endif