graph_drawable.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #ifndef GRAPH_DRAWABLE_H_
29 #define GRAPH_DRAWABLE_H_
30 
31 #ifdef __ANDROID__
32 #include <jni.h>
33 #endif
34 #include <tango-gl/util.h>
35 #include <vector>
36 #include <pcl/point_cloud.h>
37 #include <pcl/point_types.h>
38 #include <rtabmap/core/Transform.h>
39 #include <rtabmap/core/Link.h>
40 #include <pcl/Vertices.h>
41 #include "util.h"
42 
44  public:
46  GLuint shaderProgram,
47  const std::map<int, rtabmap::Transform> & poses,
48  const std::multimap<int, rtabmap::Link> & links);
49  virtual ~GraphDrawable();
50 
51  void setPose(const rtabmap::Transform & mapToOdom);
52  void setVisible(bool visible) {visible_=visible;}
53 
54  void Render(const glm::mat4 & projectionMatrix, const glm::mat4 & viewMatrix);
55 
56  private:
57  // Vertex buffer of the point cloud geometry.
59  std::vector<GLushort> neighborIndices_;
60  std::vector<GLushort> loopClosureIndices_;
62  bool visible_;
63  float lineWidth_;
64 
66 };
67 
68 #endif // GRAPH_DRAWABLE_H_
Transform.h
GraphDrawable::setVisible
void setVisible(bool visible)
Definition: graph_drawable.h:52
util.h
GraphDrawable::vertex_buffers_
GLuint vertex_buffers_
Definition: graph_drawable.h:58
GraphDrawable::lineWidth_
float lineWidth_
Definition: graph_drawable.h:63
GraphDrawable::loopClosureIndices_
std::vector< GLushort > loopClosureIndices_
Definition: graph_drawable.h:60
glm::detail::tmat4x4
Definition: type_mat.hpp:47
GraphDrawable::neighborIndices_
std::vector< GLushort > neighborIndices_
Definition: graph_drawable.h:59
GraphDrawable::setPose
void setPose(const rtabmap::Transform &mapToOdom)
Definition: graph_drawable.cpp:120
GLuint
unsigned int GLuint
Definition: dummy.cpp:78
GraphDrawable
Definition: graph_drawable.h:43
GraphDrawable::pose_
glm::mat4 pose_
Definition: graph_drawable.h:61
GraphDrawable::shader_program_
GLuint shader_program_
Definition: graph_drawable.h:65
rtabmap::Transform
Definition: Transform.h:41
GraphDrawable::Render
void Render(const glm::mat4 &projectionMatrix, const glm::mat4 &viewMatrix)
Definition: graph_drawable.cpp:127
GraphDrawable::~GraphDrawable
virtual ~GraphDrawable()
Definition: graph_drawable.cpp:109
GraphDrawable::GraphDrawable
GraphDrawable(GLuint shaderProgram, const std::map< int, rtabmap::Transform > &poses, const std::multimap< int, rtabmap::Link > &links)
Definition: graph_drawable.cpp:40
GraphDrawable::visible_
bool visible_
Definition: graph_drawable.h:62


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:10