graph_drawable.h
Go to the documentation of this file.
00001 /*
00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #ifndef GRAPH_DRAWABLE_H_
00029 #define GRAPH_DRAWABLE_H_
00030 
00031 #include <jni.h>
00032 
00033 #include <tango-gl/util.h>
00034 #include <vector>
00035 #include <pcl/point_cloud.h>
00036 #include <pcl/point_types.h>
00037 #include <rtabmap/core/Transform.h>
00038 #include <rtabmap/core/Link.h>
00039 #include <pcl/Vertices.h>
00040 #include "util.h"
00041 
00042 class GraphDrawable {
00043  public:
00044         GraphDrawable(
00045                   GLuint shaderProgram,
00046                   const std::map<int, rtabmap::Transform> & poses,
00047                   const std::multimap<int, rtabmap::Link> & links);
00048   virtual ~GraphDrawable();
00049 
00050   void setPose(const rtabmap::Transform & mapToOdom);
00051   void setVisible(bool visible) {visible_=visible;}
00052 
00053   void Render(const glm::mat4 & projectionMatrix, const glm::mat4 & viewMatrix);
00054 
00055  private:
00056   // Vertex buffer of the point cloud geometry.
00057   GLuint vertex_buffers_;
00058   std::vector<GLushort> neighborIndices_;
00059   std::vector<GLushort> loopClosureIndices_;
00060   glm::mat4 pose_;
00061   bool visible_;
00062   float lineWidth_;
00063 
00064   GLuint shader_program_;
00065 };
00066 
00067 #endif  // GRAPH_DRAWABLE_H_


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:20