Class OcTreeDrawer

Defined in File OcTreeDrawer.h

Inheritance Relationships

Base Type

public octomap::SceneObject (Class SceneObject)

Derived Type

public octomap::ColorOcTreeDrawer (Class ColorOcTreeDrawer)

Class Documentation

class OcTreeDrawer : public octomap::SceneObject 

Subclassed by octomap::ColorOcTreeDrawer

Public Functions

OcTreeDrawer()

virtual ~OcTreeDrawer()

virtual void clear(): Clears the object’s representation (will be called when it gets invalid)

virtual void draw() const: Actual draw function which will be called to visualize the object

inline 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_): sets a new OcTree that should be drawn by this drawer origin specifies a global transformation that should be applied

void setOcTreeSelection(const std::list<octomap::OcTreeVolume> &selectedPoints): sets a new selection of the current OcTree to be drawn

void clearOcTreeSelection(): clear the visualization of the OcTree selection

void setAlphaOccupied(double alpha): sets alpha level for occupied cells

inline void setAlternativeDrawing(bool flag)

void enableOcTree(bool enabled = true)

inline void enableOcTreeCells(bool enabled = true)

inline void enableFreespace(bool enabled = true)

inline void enableSelection(bool enabled = true)

inline void setMax_tree_depth(unsigned int max_tree_depth)

void setOrigin(octomap::pose6d t)

inline void enableAxes(bool enabled = true)

Protected Functions

void clearOcTreeStructure()

void drawOctreeGrid() const

void drawOccupiedVoxels() const

void drawFreeVoxels() const

void drawSelection() const

void drawCubes(GLfloat **cubeArray, unsigned int cubeArraySize, GLfloat *cubeColorArray = NULL) const

void drawAxes() const

void generateCubes(const std::list<octomap::OcTreeVolume> &voxels, GLfloat ***glArray, unsigned int &glArraySize, octomath::Pose6D &origin, GLfloat **glColorArray = NULL): Initializes the OpenGL visualization for a list of OcTreeVolumes The array is cleared first, if needed rotates cubes to correct reference frame

void clearCubes(GLfloat ***glArray, unsigned int &glArraySize, GLfloat **glColorArray = NULL): clear OpenGL visualization

void initGLArrays(const unsigned int &num_cubes, unsigned int &glArraySize, GLfloat ***glArray, GLfloat **glColorArray): setup OpenGL arrays

void initCubeTemplate(const octomath::Pose6D &origin, std::vector<octomath::Vector3> &cube_template): setup cube template

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

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)

void initOctreeGridVis()

Protected Attributes

GLfloat **m_occupiedThresArray: OpenGL representation of Octree cells (cubes)

unsigned int m_occupiedThresSize

GLfloat **m_freeThresArray

unsigned int m_freeThresSize

GLfloat **m_occupiedArray

unsigned int m_occupiedSize

GLfloat **m_freeArray

unsigned int m_freeSize

GLfloat **m_selectionArray

unsigned int m_selectionSize

GLfloat *m_occupiedThresColorArray: Color array for occupied cells (height)

GLfloat *m_occupiedColorArray

GLfloat *octree_grid_vertex_array: OpenGL representation of Octree (grid structure)

unsigned int octree_grid_vertex_size

std::list<octomap::OcTreeVolume> m_grid_voxels

bool m_drawOccupied

bool m_drawOcTreeGrid

bool m_drawFree

bool m_drawSelection

bool m_octree_grid_vis_initialized

bool m_displayAxes

bool m_alternativeDrawing

mutable bool m_update

unsigned int m_max_tree_depth

double m_alphaOccupied

octomap::pose6d origin

octomap::pose6d initial_origin

int map_id