00001 // HOG-Man - Hierarchical Optimization for Pose Graphs on Manifolds 00002 // Copyright (C) 2010 G. Grisetti, R. Kümmerle, 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 QGL_GRAPH_VIEWER_H 00020 #define QGL_GRAPH_VIEWER_H 00021 00022 #include "pose_graph_vis3d.h" 00023 #include <qglviewer/qglviewer.h> 00024 00025 namespace AISNavigation { 00026 00027 class QGLGraphViewer : public QGLViewer 00028 { 00029 public: 00030 explicit QGLGraphViewer(QWidget* parent=NULL, const QGLWidget* shareWidget=0, Qt::WFlags flags=0); 00031 ~QGLGraphViewer(); 00032 virtual void draw(); 00033 void init(); 00034 00035 public: 00036 PoseGraph3DVis graph; 00037 }; 00038 00039 } // end namespace 00040 00041 #endif