00001 /* 00002 * This file is part of OctoMap - An Efficient Probabilistic 3D Mapping 00003 * Framework Based on Octrees 00004 * http://octomap.github.io 00005 * 00006 * Copyright (c) 2009-2014, K.M. Wurm and A. Hornung, University of Freiburg 00007 * All rights reserved. License for the viewer 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 00022 * along with this program. If not, see http://www.gnu.org/licenses/. 00023 */ 00024 00025 #ifndef SELECTIONBOX_H_ 00026 #define SELECTIONBOX_H_ 00027 00028 #include <qglviewer.h> 00029 00030 namespace octomap { 00031 class SelectionBox{ 00032 00033 public: 00034 SelectionBox(); 00035 virtual ~SelectionBox(); 00036 void draw(bool withNames = false); 00037 const qglviewer::ManipulatedFrame* frame (unsigned short i) const { return m_frames.at(i); } 00038 qglviewer::ManipulatedFrame* frame (unsigned short i) { return m_frames.at(i); } 00039 void getBBXMin(float& x, float& y, float& z) const; 00040 void getBBXMax(float& x, float& y, float& z) const; 00041 int getGrabbedFrame() const; 00042 00043 protected: 00044 void drawAxis(float length = 0.2f) const; 00045 00046 bool m_visible; 00047 std::vector<qglviewer::ManipulatedFrame*> m_frames; 00048 unsigned short m_selectedFrame; 00049 qglviewer::Vec m_minPt; 00050 qglviewer::Vec m_maxPt; 00051 float m_arrowLength; 00052 00053 }; 00054 00055 00056 00057 } 00058 00059 00060 00061 00062 #endif