mvsim::VisualObject Class Reference

#include <VisualObject.h>

Inheritance diagram for mvsim::VisualObject:

Public Member Functions
void	getVisualModelBoundingBox (mrpt::math::TPoint3D &bbmin, mrpt::math::TPoint3D &bbmax) const
World *	getWorldObject ()
const World *	getWorldObject () const
virtual void	guiUpdate (mrpt::opengl::COpenGLScene &scene)
void	showBoundingBox (bool show)
	VisualObject (World *parent)
virtual	~VisualObject ()

Protected Member Functions
virtual mrpt::poses::CPose3D	internalGuiGetVisualPose ()
virtual void	internalGuiUpdate (mrpt::opengl::COpenGLScene &scene, bool childrenOnly=false)=0
bool	parseVisual (const rapidxml::xml_node< char > *visual_node)

Protected Attributes
std::shared_ptr< mrpt::opengl::CSetOfObjects >	m_glBoundingBox
std::shared_ptr< mrpt::opengl::CSetOfObjects >	m_glCustomVisual
int32_t	m_glCustomVisualId = -1
World *	m_world

Private Attributes
mrpt::math::TPoint3D	viz_bbmax_ {1.0, 1.0, 1.0}
mrpt::math::TPoint3D	viz_bbmin_ {-1.0, -1.0, .0}

Detailed Description

Virtual base class for any entity that can be shown in the 3D viewer (or sent out to RViz)

Definition at line 25 of file VisualObject.h.

Constructor & Destructor Documentation

mvsim::VisualObject::VisualObject ( World *  parent )

inline

Definition at line 28 of file VisualObject.h.

virtual mvsim::VisualObject::~VisualObject ( )

inlinevirtual

Definition at line 29 of file VisualObject.h.

Member Function Documentation

void mvsim::VisualObject::getVisualModelBoundingBox ( mrpt::math::TPoint3D &  bbmin, mrpt::math::TPoint3D &  bbmax  ) const

inline

Returns bounding boxes, as loaded by parseVisual() from an XML config file.

Definition at line 39 of file VisualObject.h.

World* mvsim::VisualObject::getWorldObject ( )

inline

Definition at line 34 of file VisualObject.h.

const World* mvsim::VisualObject::getWorldObject ( ) const

inline

Definition at line 35 of file VisualObject.h.

void VisualObject::guiUpdate ( mrpt::opengl::COpenGLScene &  scene )

virtual

Must create a new object in the scene and/or update it according to the current state

Definition at line 29 of file VisualObject.cpp.

virtual mrpt::poses::CPose3D mvsim::VisualObject::internalGuiGetVisualPose ( )

inlineprotectedvirtual

Reimplemented in mvsim::VehicleBase, and mvsim::Block.

Definition at line 60 of file VisualObject.h.

virtual void mvsim::VisualObject::internalGuiUpdate ( mrpt::opengl::COpenGLScene &  scene, bool  childrenOnly = false  )

protectedpure virtual

Implemented in mvsim::VehicleBase, mvsim::Block, mvsim::OccupancyGridMap, mvsim::LaserScanner, mvsim::ElevationMap, and mvsim::GroundGrid.

bool VisualObject::parseVisual ( const rapidxml::xml_node< char > *  visual_node )

protected

Definition at line 74 of file VisualObject.cpp.

void VisualObject::showBoundingBox

(

bool

show

)

Definition at line 158 of file VisualObject.cpp.

Member Data Documentation

std::shared_ptr<mrpt::opengl::CSetOfObjects> mvsim::VisualObject::m_glBoundingBox

protected

Definition at line 55 of file VisualObject.h.

std::shared_ptr<mrpt::opengl::CSetOfObjects> mvsim::VisualObject::m_glCustomVisual

protected

If not empty, will override the derived-class visualization for this object.

Definition at line 54 of file VisualObject.h.

int32_t mvsim::VisualObject::m_glCustomVisualId = -1

protected

Definition at line 56 of file VisualObject.h.

World* mvsim::VisualObject::m_world

protected

Definition at line 50 of file VisualObject.h.

mrpt::math::TPoint3D mvsim::VisualObject::viz_bbmax_ {1.0, 1.0, 1.0}

private

Definition at line 63 of file VisualObject.h.

mrpt::math::TPoint3D mvsim::VisualObject::viz_bbmin_ {-1.0, -1.0, .0}

private

Definition at line 63 of file VisualObject.h.

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The documentation for this class was generated from the following files:

• VisualObject.h
• VisualObject.cpp