.. _program_listing_file__tmp_ws_src_octomap_octovis_include_octovis_TrajectoryDrawer.h:

Program Listing for File TrajectoryDrawer.h
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_octovis_include_octovis_TrajectoryDrawer.h>` (``/tmp/ws/src/octomap/octovis/include/octovis/TrajectoryDrawer.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 TRAJECTORYDRAWER_H_
   #define TRAJECTORYDRAWER_H_
   
   #include "SceneObject.h"
   #include <vector>
   
   namespace octomap {
   
     class TrajectoryDrawer : public ScanGraphDrawer{
     public:
       TrajectoryDrawer();
       TrajectoryDrawer(const ScanGraph& graph);
       virtual ~TrajectoryDrawer();
       virtual void draw() const;
       virtual void clear();
       virtual void setScanGraph(const octomap::ScanGraph& graph);
   
     protected:
       GLfloat* m_trajectoryVertexArray;
       GLfloat* m_trajectoryColorArray;
       unsigned int m_trajectorySize; 
     };
   
   }
   
   #endif /* TRAJECTORYDRAWER_H_ */