00001 /* 00002 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees 00003 * http://octomap.github.com/ 00004 * 00005 * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg 00006 * All rights reserved. 00007 * License (octovis): GNU GPL v2 00008 * http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt 00009 * 00010 * 00011 * This program is free software; you can redistribute it and/or modify 00012 * it under the terms of the GNU General Public License as published by 00013 * the Free Software Foundation; either version 2 of the License, or 00014 * (at your option) any later version. 00015 * 00016 * This program is distributed in the hope that it will be useful, but 00017 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 00018 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 00019 * for more details. 00020 * 00021 * You should have received a copy of the GNU General Public License along 00022 * with this program; if not, write to the Free Software Foundation, Inc., 00023 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00024 */ 00025 00026 #ifndef TRAJECTORYDRAWER_H_ 00027 #define TRAJECTORYDRAWER_H_ 00028 00029 #include "SceneObject.h" 00030 #include <vector> 00031 00032 namespace octomap { 00033 00034 class TrajectoryDrawer : public ScanGraphDrawer{ 00035 public: 00036 TrajectoryDrawer(); 00037 TrajectoryDrawer(const ScanGraph& graph); 00038 virtual ~TrajectoryDrawer(); 00039 virtual void draw() const; 00040 virtual void clear(); 00041 virtual void setScanGraph(const octomap::ScanGraph& graph); 00042 00043 protected: 00044 GLfloat* m_trajectoryVertexArray; 00045 GLfloat* m_trajectoryColorArray; 00046 unsigned int m_trajectorySize; 00047 }; 00048 00049 } 00050 00051 #endif /* TRAJECTORYDRAWER_H_ */