.. _program_listing_file__tmp_ws_src_octomap_octovis_include_octovis_SceneObject.h:

Program Listing for File SceneObject.h
======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_octovis_include_octovis_SceneObject.h>` (``/tmp/ws/src/octomap/octovis/include/octovis/SceneObject.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * This file is part of OctoMap - An Efficient Probabilistic 3D Mapping
    * Framework Based on Octrees
    * http://octomap.github.io
    *
    * Copyright (c) 2009-2014, K.M. Wurm and A. Hornung, University of Freiburg
    * All rights reserved. License for the viewer octovis: GNU GPL v2
    * http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt
    *
    *
    * This program 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 2 of the License, or
    * (at your option) any later version.
    *
    * This program 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 this program. If not, see http://www.gnu.org/licenses/.
    */
   
   #ifndef SCENEOBJECT_H_
   #define SCENEOBJECT_H_
   
   // fix Windows includes
   #include <qglobal.h>
   #if defined(Q_WS_WIN) || defined(Q_OS_WIN)
     #include <QtCore/qt_windows.h>
   #endif
   
   #if defined(Q_WS_MAC) || defined(Q_OS_MAC)
     #include <OpenGL/glu.h>
   #else
     #include <GL/glu.h>
   #endif
   
   #include <octomap/octomap.h>
   
   namespace octomap {
   
     class SceneObject {
     public:
       enum ColorMode {
         CM_FLAT,
         CM_PRINTOUT,
         CM_COLOR_HEIGHT,
         CM_GRAY_HEIGHT,
         CM_SEMANTIC
       };
   
     public:
       SceneObject();
       virtual ~SceneObject(){}
   
       virtual void draw() const = 0;
   
       virtual void clear(){}
   
     public:
       inline void setColorMode(ColorMode mode) { m_colorMode = mode; }
       inline void enablePrintoutMode(bool enabled = true) { if (enabled) m_colorMode = CM_PRINTOUT; else m_colorMode = CM_FLAT; }
       inline void enableHeightColorMode(bool enabled = true) { if (enabled) m_colorMode = CM_COLOR_HEIGHT; else m_colorMode = CM_FLAT; }
       inline void enableSemanticColoring(bool enabled = true) { if (enabled) m_colorMode = CM_SEMANTIC; else m_colorMode = CM_FLAT; }
   
     protected:
       void heightMapColor(double h, GLfloat* glArrayPos) const;
       void heightMapGray(double h, GLfloat* glArrayPos) const;
       double m_zMin;
       double m_zMax;
       ColorMode m_colorMode;
     };
   
   
   
   
     class ScanGraphDrawer : public SceneObject {
     public:
       ScanGraphDrawer(): SceneObject(){}
       virtual ~ScanGraphDrawer(){}
   
       virtual void setScanGraph(const octomap::ScanGraph& graph) = 0;
     };
   
   }
   
   #endif /* SCENEOBJECT_H_ */