.. _program_listing_file__tmp_ws_src_octomap_octovis_include_octovis_ViewerWidget.h:

Program Listing for File ViewerWidget.h
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_octovis_include_octovis_ViewerWidget.h>` (``/tmp/ws/src/octomap/octovis/include/octovis/ViewerWidget.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 VIEWERWIDGET_H_
   #define VIEWERWIDGET_H_
   
   #include "SceneObject.h"
   #include "SelectionBox.h"
   #include <octomap/octomap.h>
   #include <qglviewer.h>
   
   namespace octomap{
   
   class ViewerWidget : public QGLViewer {
     Q_OBJECT
   
    public:
   
     ViewerWidget(QWidget* parent = NULL);
     void clearAll();
   
     void addSceneObject(SceneObject* obj);
   
     void removeSceneObject(SceneObject* obj);
   
    public slots:
     void enablePrintoutMode (bool enabled = true);
     void enableHeightColorMode (bool enabled = true);
     void enableSemanticColoring (bool enabled = true);
     void enableSelectionBox (bool enabled = true);
     void setCamPosition(double x, double y, double z, double lookX, double lookY, double lookZ);
     void setCamPose(const octomath::Pose6D& pose);
     virtual void setSceneBoundingBox(const qglviewer::Vec& min, const qglviewer::Vec& max);
     void deleteCameraPath(int id);
     void appendToCameraPath(int id, const octomath::Pose6D& pose);
     void appendCurrentToCameraPath(int id);
     void addCurrentToCameraPath(int id, int frame);
     void removeFromCameraPath(int id, int frame);
     void updateCameraPath(int id, int frame);
     void jumpToCamFrame(int id, int frame);
     void playCameraPath(int id, int start_frame);
     void stopCameraPath(int id);
     const SelectionBox& selectionBox() const { return m_selectionBox;}
   
     void resetView();
   
   private slots:
      void cameraPathFinished();
      void cameraPathInterpolated();
   
   signals:
      void cameraPathStopped(int id);
      void cameraPathFrameChanged(int id, int current_camera_frame);
      void select(const QMouseEvent* e);
   
    protected:
   
     virtual void draw();
     virtual void drawWithNames();
     virtual void init();
     virtual void postDraw();
     virtual void postSelection(const QPoint&);
     virtual QString helpString() const;
   
     qglviewer::Quaternion poseToQGLQuaternion(const octomath::Pose6D& pose);
   
     std::vector<SceneObject*> m_sceneObjects;
     SelectionBox m_selectionBox;
   
     bool m_printoutMode;
     bool m_heightColorMode;
     bool m_semantic_coloring;
   
     bool m_drawAxis; // actual state of axis (original overwritten)
     bool m_drawGrid; // actual state of grid (original overwritten)
     bool m_drawSelectionBox;
   
     double m_zMin;
     double m_zMax;
   
     int m_current_camera_path;
     int m_current_camera_frame;
   };
   
   }
   
   #endif /* VIEWERWIDGET_H_ */