#include <PointCloud.h>

Inheritance diagram for mvsim::PointCloud:

Public Member Functions
void	doLoadConfigFrom (const rapidxml::xml_node< char > *root)

const mrpt::maps::CPointsMap::Ptr &	getPoints () const

mrpt::maps::CPointsMap::Ptr &	getPoints ()

virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root) override

	PointCloud (World parent, const rapidxml::xml_node< char > root)

virtual void	simul_pre_timestep (const TSimulContext &context) override

virtual	~PointCloud ()

Public Member Functions inherited from mvsim::WorldElementBase
	WorldElementBase (World *parent)

virtual	~WorldElementBase ()

Public Member Functions inherited from mvsim::VisualObject
const std::optional< Shape2p5 > &	collisionShape () const

void	customVisualVisible (const bool visible)

bool	customVisualVisible () const

virtual void	guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical)

World *	parent ()

const World *	parent () const

void	showCollisionShape (bool show)

	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

virtual	~VisualObject ()

Public Member Functions inherited from mvsim::Simulable
virtual void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0))

const b2Body *	b2d_body () const

b2Body *	b2d_body ()

virtual void	freeOpenGLResources ()

mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose() More...

mrpt::poses::CPose3D	getCPose3D () const
	Alternative to getPose() More...

mrpt::math::TVector3D	getLinearAcceleration () const

const std::string &	getName () const

mrpt::math::TPose3D	getPose () const

mrpt::math::TPose3D	getPoseNoLock () const
	No thread-safe version. Used internally only. More...

World *	getSimulableWorldObject ()

const World *	getSimulableWorldObject () const

mrpt::math::TTwist2D	getTwist () const

mrpt::math::TTwist2D	getVelocityLocal () const

bool	hadCollision () const

bool	isInCollision () const

virtual VisualObject *	meAsVisualObject ()

virtual void	registerOnServer (mvsim::Client &c)

void	resetCollisionFlag ()

void	setName (const std::string &s)

void	setPose (const mrpt::math::TPose3D &p) const

void	setTwist (const mrpt::math::TTwist2D &dq) const

virtual void	simul_post_timestep (const TSimulContext &context)

	Simulable (World *parent)

Protected Member Functions
virtual void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly) override

Protected Member Functions inherited from mvsim::VisualObject
void	addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false)

bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry. More...

bool	parseVisual (const JointXMLnode<> &rootNode)

void	setCollisionShape (const Shape2p5 &cs)

Protected Attributes
mrpt::opengl::CSetOfObjects::Ptr	gl_points_

bool	gui_uptodate_ = false

mrpt::poses::CPose3D	pointcloud_pose_ = mrpt::poses::CPose3D::Identity()

mrpt::maps::CPointsMap::Ptr	points_

double	render_points_size_ = 3.0

Protected Attributes inherited from mvsim::VisualObject
std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCollision_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCustomVisual_

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoPhysical_ = true

const bool	insertCustomVizIntoViz_ = true

World *	world_

Protected Attributes inherited from mvsim::Simulable
std::string	name_

Additional Inherited Members
Public Types inherited from mvsim::WorldElementBase
using	Ptr = std::shared_ptr< WorldElementBase >

Public Types inherited from mvsim::Simulable
using	Ptr = std::shared_ptr< Simulable >

Static Public Member Functions inherited from mvsim::WorldElementBase
static Ptr	factory (World parent, const rapidxml::xml_node< char > xml_node, const char *class_name=nullptr)

Static Public Member Functions inherited from mvsim::VisualObject
static void	FreeOpenGLResources ()

Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon = 1e-3

Detailed Description

Definition at line 21 of file PointCloud.h.

Constructor & Destructor Documentation

◆ PointCloud()

PointCloud::PointCloud	(	World *	parent,
		const rapidxml::xml_node< char > *	root
	)

Definition at line 23 of file PointCloud.cpp.

◆ ~PointCloud()

PointCloud::~PointCloud ( )

virtual

Definition at line 29 of file PointCloud.cpp.

Member Function Documentation

◆ doLoadConfigFrom()

void PointCloud::doLoadConfigFrom ( const rapidxml::xml_node< char > * root )

Definition at line 31 of file PointCloud.cpp.

◆ getPoints() [1/2]

const mrpt::maps::CPointsMap::Ptr& mvsim::PointCloud::getPoints ( ) const

inline

Definition at line 37 of file PointCloud.h.

◆ getPoints() [2/2]

mrpt::maps::CPointsMap::Ptr& mvsim::PointCloud::getPoints ( )

inline

Definition at line 38 of file PointCloud.h.

◆ internalGuiUpdate()

void PointCloud::internalGuiUpdate	(	const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	viz,
		const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	physical,
		bool	childrenOnly
	)

overrideprotectedvirtual

Implements mvsim::VisualObject.

Definition at line 68 of file PointCloud.cpp.

◆ loadConfigFrom()

virtual void mvsim::PointCloud::loadConfigFrom ( const rapidxml::xml_node< char > * root )

inlineoverridevirtual

Implements mvsim::WorldElementBase.

Definition at line 30 of file PointCloud.h.

◆ simul_pre_timestep()

void PointCloud::simul_pre_timestep ( const TSimulContext & context )

overridevirtual

Process right before the integration of dynamic equations for each timestep: set action forces from motors, update friction models, etc.

Reimplemented from mvsim::Simulable.

Definition at line 93 of file PointCloud.cpp.

Member Data Documentation

◆ gl_points_

mrpt::opengl::CSetOfObjects::Ptr mvsim::PointCloud::gl_points_

protected

Definition at line 51 of file PointCloud.h.

◆ gui_uptodate_

bool mvsim::PointCloud::gui_uptodate_ = false

protected

Whether gl_grid_ has to be updated upon next call of internalGuiUpdate()

Definition at line 50 of file PointCloud.h.

◆ pointcloud_pose_

mrpt::poses::CPose3D mvsim::PointCloud::pointcloud_pose_ = mrpt::poses::CPose3D::Identity()

protected

Definition at line 54 of file PointCloud.h.

◆ points_

mrpt::maps::CPointsMap::Ptr mvsim::PointCloud::points_

protected

Definition at line 46 of file PointCloud.h.

◆ render_points_size_

double mvsim::PointCloud::render_points_size_ = 3.0

protected

Definition at line 53 of file PointCloud.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PointCloud()

◆ ~PointCloud()

Member Function Documentation

◆ doLoadConfigFrom()

◆ getPoints() [1/2]

◆ getPoints() [2/2]

◆ internalGuiUpdate()

◆ loadConfigFrom()

◆ simul_pre_timestep()

Member Data Documentation

◆ gl_points_

◆ gui_uptodate_

◆ pointcloud_pose_

◆ points_

◆ render_points_size_