NDTViz Class Reference

#include <ndt_viz.h>

List of all members.

Public Member Functions
void	addParticle (float x, float y, float z, float R=1.0, float G=1.0, float B=1.0)
void	addPointCloud (pcl::PointCloud< pcl::PointXYZ > &cloud, double R=1.0, double G=1.0, double B=1.0)
void	addScan (Eigen::Vector3d orig, pcl::PointCloud< pcl::PointXYZ > &cloud, double R=1.0, double G=1.0, double B=1.0)
void	addTrajectoryPoint (float x, float y, float z, float R=1.0, float G=1.0, float B=1.0)
void	clear ()
void	clearParticles ()
void	clearTrajectoryPoints ()
void	displayParticles ()
void	displayTrajectory ()
	NDTViz (bool allocate_new_window=true)
void	plotLocalConflictNDTMap (lslgeneric::NDTMap *map, pcl::PointCloud< pcl::PointXYZ > &cloud, double resolution, double R=1, double G=0, double B=0, bool heightCoding=false, double maxz=0)
void	plotLocalNDTMap (pcl::PointCloud< pcl::PointXYZ > &cloud, double resolution, double R=0, double G=1, double B=0, bool heightCoding=true)
void	plotNDTMap (lslgeneric::NDTMap *map, double R=1.0, double G=1.0, double B=1.0, bool heightCoding=false, bool setCameraPos=true)
void	plotNDTSAccordingToClass (float occupancy, lslgeneric::NDTMap *map)
void	plotNDTSAccordingToCost (float occupancy, double MAX_COST, lslgeneric::NDTMap *map)
void	plotNDTSAccordingToOccupancy (float occupancy, lslgeneric::NDTMap *map)
void	plotNDTTraversabilityMap (lslgeneric::NDTMap *map)
void	repaint ()
void	setCameraPointing (double x, double y, double z)
void	setCameraPointingToPoint (double x, double y, double z)
void	startEventLoop ()
virtual	~NDTViz ()
Public Attributes
NDTVizGlutEllipsoids	gl_ellipsoids
NDTVizGlutSetOfLines	gl_laserlines
NDTVizGlutPointCloudColor	gl_particles
NDTVizGlutPointCloudColor	gl_pointcloud
NDTVizGlutPointCloudColor	gl_points
NDTVizGlut *	win3D

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Detailed Description

Definition at line 11 of file ndt_viz.h.

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Constructor & Destructor Documentation

NDTViz::NDTViz

(

bool

allocate_new_window = true

)

[inline]

Definition at line 21 of file ndt_viz.h.

virtual NDTViz::~NDTViz

(

)

[inline, virtual]

Definition at line 40 of file ndt_viz.h.

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Member Function Documentation

void NDTViz::addParticle	(	float	x,
		float	y,
		float	z,
		float	R = 1.0,
		float	G = 1.0,
		float	B = 1.0
	)		[inline]

Definition at line 71 of file ndt_viz.h.

void NDTViz::addPointCloud	(	pcl::PointCloud< pcl::PointXYZ > &	cloud,
		double	R = 1.0,
		double	G = 1.0,
		double	B = 1.0
	)		[inline]

Definition at line 98 of file ndt_viz.h.

void NDTViz::addScan	(	Eigen::Vector3d	orig,
		pcl::PointCloud< pcl::PointXYZ > &	cloud,
		double	R = 1.0,
		double	G = 1.0,
		double	B = 1.0
	)		[inline]

Add the laser scan to the scen

Definition at line 89 of file ndt_viz.h.

void NDTViz::addTrajectoryPoint	(	float	x,
		float	y,
		float	z,
		float	R = 1.0,
		float	G = 1.0,
		float	B = 1.0
	)		[inline]

Definition at line 63 of file ndt_viz.h.

void NDTViz::clear

(

)

[inline]

Definition at line 55 of file ndt_viz.h.

void NDTViz::clearParticles

(

)

[inline]

Definition at line 70 of file ndt_viz.h.

void NDTViz::clearTrajectoryPoints

(

)

[inline]

Definition at line 59 of file ndt_viz.h.

void NDTViz::displayParticles

(

)

[inline]

Definition at line 74 of file ndt_viz.h.

void NDTViz::displayTrajectory

(

)

[inline]

Definition at line 66 of file ndt_viz.h.

void NDTViz::plotLocalConflictNDTMap	(	lslgeneric::NDTMap *	map,
		pcl::PointCloud< pcl::PointXYZ > &	cloud,
		double	resolution,
		double	R = 1,
		double	G = 0,
		double	B = 0,
		bool	heightCoding = false,
		double	maxz = 0
	)		[inline]

Definition at line 331 of file ndt_viz.h.

void NDTViz::plotLocalNDTMap	(	pcl::PointCloud< pcl::PointXYZ > &	cloud,
		double	resolution,
		double	R = 0,
		double	G = 1,
		double	B = 0,
		bool	heightCoding = true
	)		[inline]

Definition at line 296 of file ndt_viz.h.

void NDTViz::plotNDTMap	(	lslgeneric::NDTMap *	map,
		double	R = 1.0,
		double	G = 1.0,
		double	B = 1.0,
		bool	heightCoding = false,
		bool	setCameraPos = true
	)		[inline]

Definition at line 107 of file ndt_viz.h.

void NDTViz::plotNDTSAccordingToClass	(	float	occupancy,
		lslgeneric::NDTMap *	map
	)		[inline]

Definition at line 192 of file ndt_viz.h.

void NDTViz::plotNDTSAccordingToCost	(	float	occupancy,
		double	MAX_COST,
		lslgeneric::NDTMap *	map
	)		[inline]

Definition at line 151 of file ndt_viz.h.

void NDTViz::plotNDTSAccordingToOccupancy	(	float	occupancy,
		lslgeneric::NDTMap *	map
	)		[inline]

Definition at line 257 of file ndt_viz.h.

void NDTViz::plotNDTTraversabilityMap

(

lslgeneric::NDTMap *

map

)

[inline]

Definition at line 381 of file ndt_viz.h.

void NDTViz::repaint

(

)

[inline]

Definition at line 51 of file ndt_viz.h.

void NDTViz::setCameraPointing	(	double	x,
		double	y,
		double	z
	)		[inline]

Definition at line 80 of file ndt_viz.h.

void NDTViz::setCameraPointingToPoint	(	double	x,
		double	y,
		double	z
	)		[inline]

Definition at line 77 of file ndt_viz.h.

void NDTViz::startEventLoop

(

)

[inline]

Definition at line 47 of file ndt_viz.h.

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Member Data Documentation

NDTVizGlutEllipsoids NDTViz::gl_ellipsoids

Definition at line 19 of file ndt_viz.h.

NDTVizGlutSetOfLines NDTViz::gl_laserlines

Definition at line 18 of file ndt_viz.h.

NDTVizGlutPointCloudColor NDTViz::gl_particles

Definition at line 16 of file ndt_viz.h.

NDTVizGlutPointCloudColor NDTViz::gl_pointcloud

Definition at line 17 of file ndt_viz.h.

NDTVizGlutPointCloudColor NDTViz::gl_points

Definition at line 15 of file ndt_viz.h.

NDTVizGlut* NDTViz::win3D

Definition at line 14 of file ndt_viz.h.

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The documentation for this class was generated from the following file:

• ndt_viz.h