#include <OcTreeDrawer.h>

Inheritance diagram for octomap::OcTreeDrawer:

Public Member Functions
void	clear ()
void	clearOcTreeSelection ()
	clear the visualization of the OcTree selection
void	draw () const
void	enableAxes (bool enabled=true)
void	enableFreespace (bool enabled=true)
void	enableOcTree (bool enabled=true)
void	enableOcTreeCells (bool enabled=true)
void	enableSelection (bool enabled=true)
	OcTreeDrawer ()
void	setAlphaOccupied (double alpha)
	sets alpha level for occupied cells
void	setMax_tree_depth (unsigned int max_tree_depth)
void	setOcTree (const AbstractOcTree &octree)
	sets a new OcTree that should be drawn by this drawer
virtual void	setOcTree (const AbstractOcTree &octree, const octomap::pose6d &origin, int map_id_)
void	setOcTreeSelection (const std::list< octomap::OcTreeVolume > &selectedPoints)
	sets a new selection of the current OcTree to be drawn
void	setOrigin (octomap::pose6d t)
virtual	~OcTreeDrawer ()
Protected Member Functions
void	clearCubes (GLfloat *glArray, unsigned int &glArraySize, GLfloat glColorArray=NULL)
	clear OpenGL visualization
void	clearOcTreeStructure ()
void	drawAxes () const
void	drawCubes (GLfloat *cubeArray, unsigned int cubeArraySize, GLfloat cubeColorArray=NULL) const
void	drawFreeVoxels () const
void	drawOccupiedVoxels () const
void	drawOctreeGrid () const
void	drawSelection () const
unsigned int	generateCube (const octomap::OcTreeVolume &v, const std::vector< octomath::Vector3 > &cube_template, const unsigned int &current_array_idx, GLfloat ***glArray)
	add one cube to arrays
void	generateCubes (const std::list< octomap::OcTreeVolume > &voxels, GLfloat *glArray, unsigned int &glArraySize, octomath::Pose6D &origin, GLfloat glColorArray=NULL)
void	initCubeTemplate (const octomath::Pose6D &origin, std::vector< octomath::Vector3 > &cube_template)
	setup cube template
void	initGLArrays (const unsigned int &num_cubes, unsigned int &glArraySize, GLfloat *glArray, GLfloat glColorArray)
	setup OpenGL arrays
void	initOctreeGridVis ()
unsigned int	setCubeColorHeightmap (const octomap::OcTreeVolume &v, const unsigned int &current_array_idx, GLfloat **glColorArray)
unsigned int	setCubeColorRGBA (const unsigned char &r, const unsigned char &g, const unsigned char &b, const unsigned char &a, const unsigned int &current_array_idx, GLfloat **glColorArray)
Protected Attributes
octomap::pose6d	initial_origin
double	m_alphaOccupied
bool	m_displayAxes
bool	m_drawFree
bool	m_drawOccupied
bool	m_drawOcTreeGrid
bool	m_drawSelection
GLfloat **	m_freeArray
unsigned int	m_freeSize
GLfloat **	m_freeThresArray
unsigned int	m_freeThresSize
std::list< octomap::OcTreeVolume >	m_grid_voxels
unsigned int	m_max_tree_depth
GLfloat **	m_occupiedArray
GLfloat *	m_occupiedColorArray
unsigned int	m_occupiedSize
GLfloat **	m_occupiedThresArray
	OpenGL representation of Octree cells (cubes)
GLfloat *	m_occupiedThresColorArray
	Color array for occupied cells (height)
unsigned int	m_occupiedThresSize
bool	m_octree_grid_vis_initialized
GLfloat **	m_selectionArray
unsigned int	m_selectionSize
int	map_id
GLfloat *	octree_grid_vertex_array
	OpenGL representation of Octree (grid structure)
unsigned int	octree_grid_vertex_size
octomap::pose6d	origin

Detailed Description

Definition at line 33 of file OcTreeDrawer.h.

Constructor & Destructor Documentation

octomap::OcTreeDrawer::OcTreeDrawer ( )

Definition at line 32 of file OcTreeDrawer.cpp.

octomap::OcTreeDrawer::~OcTreeDrawer ( ) [virtual]

Definition at line 57 of file OcTreeDrawer.cpp.

Member Function Documentation

void octomap::OcTreeDrawer::clear ( ) [virtual]

Clears the object's representation (will be called when it gets invalid)

Reimplemented from octomap::SceneObject.

Definition at line 633 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::clearCubes	(	GLfloat ***	glArray,
		unsigned int &	glArraySize,
		GLfloat **	glColorArray = `NULL`
	)		`[protected]`

clear OpenGL visualization

Definition at line 458 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::clearOcTreeSelection ( )

clear the visualization of the OcTree selection

Definition at line 215 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::clearOcTreeStructure ( ) [protected]

Definition at line 625 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::draw ( ) const [virtual]

Actual draw function which will be called to visualize the object

Implements octomap::SceneObject.

Definition at line 61 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::drawAxes ( ) const [protected]

Definition at line 839 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::drawCubes	(	GLfloat **	cubeArray,
		unsigned int	cubeArraySize,
		GLfloat *	cubeColorArray = `NULL`
	)		const `[protected]`

Definition at line 716 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::drawFreeVoxels ( ) const [protected]

Definition at line 685 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::drawOccupiedVoxels ( ) const [protected]

Definition at line 644 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::drawOctreeGrid ( ) const [protected]

Definition at line 804 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::drawSelection ( ) const [protected]

Definition at line 709 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::enableAxes ( bool enabled = true ) [inline]

Definition at line 72 of file OcTreeDrawer.h.

void octomap::OcTreeDrawer::enableFreespace ( bool enabled = true ) [inline]

Definition at line 66 of file OcTreeDrawer.h.

void octomap::OcTreeDrawer::enableOcTree ( bool enabled = true )

Definition at line 820 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::enableOcTreeCells ( bool enabled = true ) [inline]

Definition at line 65 of file OcTreeDrawer.h.

void octomap::OcTreeDrawer::enableSelection ( bool enabled = true ) [inline]

Definition at line 67 of file OcTreeDrawer.h.

unsigned int octomap::OcTreeDrawer::generateCube	(	const octomap::OcTreeVolume &	v,
		const std::vector< octomath::Vector3 > &	cube_template,
		const unsigned int &	current_array_idx,
		GLfloat ***	glArray
	)		`[protected]`

add one cube to arrays

Definition at line 272 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::generateCubes	(	const std::list< octomap::OcTreeVolume > &	voxels,
		GLfloat ***	glArray,
		unsigned int &	glArraySize,
		octomath::Pose6D &	origin,
		GLfloat **	glColorArray = `NULL`
	)		`[protected]`

Initializes the OpenGL visualization for a list of OcTreeVolumes The array is cleared first, if needed rotates cubes to correct reference frame

Definition at line 477 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::initCubeTemplate	(	const octomath::Pose6D &	origin,
		std::vector< octomath::Vector3 > &	cube_template
	)		`[protected]`

setup cube template

Definition at line 238 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::initGLArrays	(	const unsigned int &	num_cubes,
		unsigned int &	glArraySize,
		GLfloat ***	glArray,
		GLfloat **	glColorArray
	)		`[protected]`

setup OpenGL arrays

Definition at line 219 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::initOctreeGridVis ( ) [protected]

Definition at line 500 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::setAlphaOccupied ( double alpha )

sets alpha level for occupied cells

Definition at line 105 of file OcTreeDrawer.cpp.

unsigned int octomap::OcTreeDrawer::setCubeColorHeightmap	(	const octomap::OcTreeVolume &	v,
		const unsigned int &	current_array_idx,
		GLfloat **	glColorArray
	)		`[protected]`

Definition at line 417 of file OcTreeDrawer.cpp.

unsigned int octomap::OcTreeDrawer::setCubeColorRGBA	(	const unsigned char &	r,
		const unsigned char &	g,
		const unsigned char &	b,
		const unsigned char &	a,
		const unsigned int &	current_array_idx,
		GLfloat **	glColorArray
	)		`[protected]`