libvrmloutput

Classes
union	vrml_color_t
	vrml color More...
struct	vrml_colored_point_t
	a 3d point with color More...
union	vrml_point_t
	a 3d point More...
Namespaces
namespace	qglviewer
Functions
std::ostream &	operator<< (std::ostream &os, const vrml_point_t &p)
template<class MatrixType >
void	setVrmlTransform (const MatrixType &mat)
void	vrmlColor3f (float r, float g, float b)
void	vrmlColor4f (float r, float g, float b, float alpha)
void	vrmlHeadRotation (qglviewer::Quaternion &quat)
void	vrmlHeadTranslation (qglviewer::Vec &p)
void	vrmlLoadIdentity ()
void	vrmlMultMatrix (const vrml::Matrix4x4 &m)
void	vrmlPopMatrix ()
void	vrmlPushMatrix ()
void	vrmlRotatef (float phi, float x, float y, float z)
void	vrmlScalef (float sx, float sy, float sz)
void	vrmlTranslatef (float dx, float dy, float dz)
void	writeAxes (std::ostream &os, double len=1.0)
void	writeBox (std::ostream &os, double l, double w, double h)
template<class InputIterator >
void	writeColoredLines (std::ostream &os, const InputIterator &begin, const InputIterator &end)
template<class InputIterator >
void	writeColoredPoints (std::ostream &os, const InputIterator &begin, const InputIterator &end)
void	writeCone (std::ostream &os, double radius, double height)
void	writeCurrentFoot (std::ostream &os)
void	writeCurrentHead (std::ostream &os, bool allColor=false)
void	writeCylinder (std::ostream &os, double radius, double height)
void	writeEllipsoid (std::ostream &os, double r1, double r2, double r3)
void	writeEnd (std::ostream &os)
template<class InputIterator >
void	writeLines (std::ostream &os, const InputIterator &begin, const InputIterator &end)
template<class InputIterator >
void	writeLineStrip (std::ostream &os, const InputIterator &begin, const InputIterator &end)
void	writePlane (std::ostream &os, double l, double w)
template<class InputIterator >
void	writePoints (std::ostream &os, const InputIterator &begin, const InputIterator &end)
void	writePoseBox (std::ostream &os)
void	writePyramid (std::ostream &os, double length, double height)
template<class InputIterator >
void	writeQuads (std::ostream &os, const InputIterator &begin, const InputIterator &end)
void	writeScaleFoot (std::ostream &os)
void	writeScaleHead (std::ostream &os, double sx, double sy, double sz)
void	writeSlice (std::ostream &os, double radius, double height, double fov, int slices_per_circle=32)
void	writeSphere (std::ostream &os, double radius)
void	writeStart (std::ostream &os)
template<class InputIterator >
void	writeTriangles (std::ostream &os, const InputIterator &begin, const InputIterator &end)
void	writeVrmlFileHeader (std::ostream &os)
Variables
vrml_color_t	g_vrml_color
	the current vrml color
vrml_color_t	g_vrml_color
	the current vrml color
vrml::Matrix4x4	g_vrml_modelview
	the current transformation matrix
vrml::Matrix4x4	g_vrml_modelview
	the current transformation matrix

---

Function Documentation

std::ostream & operator<<	(	std::ostream &	os,
		const vrml_point_t &	p
	)

Definition at line 344 of file vrml_output.cpp.

template<class MatrixType >

void setVrmlTransform

(

const MatrixType &

mat

)

set the current transformation matrix from another matrix

Definition at line 488 of file include/hogman_minimal/graph_viewer/vrml_output.h.

void vrmlColor3f	(	float	r,
		float	g,
		float	b
	)

change the current color

Definition at line 39 of file vrml_output.cpp.

void vrmlColor4f	(	float	r,
		float	g,
		float	b,
		float	alpha
	)

change the current color

Definition at line 44 of file vrml_output.cpp.

void vrmlHeadRotation

(

qglviewer::Quaternion &

quat

)

current rotation as Quaternion

Definition at line 334 of file vrml_output.cpp.

void vrmlHeadTranslation

(

qglviewer::Vec &

p

)

store current translation in p

Definition at line 325 of file vrml_output.cpp.

void vrmlLoadIdentity

(

)

Load the identity Matrix and replace the current modelview matrix

Definition at line 91 of file vrml_output.cpp.

void vrmlMultMatrix

(

const vrml::Matrix4x4 &

m

)

multiply the current matrix with the given matrix

Definition at line 64 of file vrml_output.cpp.

void vrmlPopMatrix

(

)

pop/restore the matrix from the stack. Throws a runtime_error, iff called on an empty stack.

Definition at line 81 of file vrml_output.cpp.

void vrmlPushMatrix

(

)

push the current Matrix on the stack

Definition at line 76 of file vrml_output.cpp.

void vrmlRotatef	(	float	phi,
		float	x,
		float	y,
		float	z
	)

rotate with an angle around the axis (x, y, z)

Parameters:

phi	the rotation angle specified in degree (just like in OpenGL)
x,y,z	the rotation axis

Definition at line 52 of file vrml_output.cpp.

void vrmlScalef	(	float	sx,
		float	sy,
		float	sz
	)

translate the current coordinate frame

Definition at line 69 of file vrml_output.cpp.

void vrmlTranslatef	(	float	dx,
		float	dy,
		float	dz
	)

translate the current coordinate frame

Definition at line 58 of file vrml_output.cpp.

void writeAxes	(	std::ostream &	os,
		double	len = 1.0
	)

write axes of the current coodinate frame

Parameters:

os	the output stream
len	the length of the axes

Definition at line 317 of file vrml_output.cpp.

void writeBox	(	std::ostream &	os,
		double	l,
		double	w,
		double	h
	)

write Box to a vrml file that is centered in the current coordinate frame

Parameters:

os	the output stream
l	length of the box (x dimension)
w	width of the box (y dimension)
h	height of the box (z dimension)

Definition at line 179 of file vrml_output.cpp.

template<class InputIterator >

void writeColoredLines	(	std::ostream &	os,
		const InputIterator &	begin,
		const InputIterator &	end
	)

write an colored line set line are assumed in the following way 0-1, 2-3, 3-4 (just like GL_LINES) value_type for the InputIterator has to be a vrml_colored_point_t or something similar, that provides color and point.

Definition at line 453 of file include/hogman_minimal/graph_viewer/vrml_output.h.

template<class InputIterator >

void writeColoredPoints	(	std::ostream &	os,
		const InputIterator &	begin,
		const InputIterator &	end
	)

write a colored PointSet. value_type for the InputIterator has to be a vrml_colored_point_t or something similar, that provides color and point.

Definition at line 426 of file include/hogman_minimal/graph_viewer/vrml_output.h.

void writeCone	(	std::ostream &	os,
		double	radius,
		double	height
	)

write a cone

Definition at line 211 of file vrml_output.cpp.

void writeCurrentFoot

(

std::ostream &

os

)

close the transform node. Make sure to call this after you have written the geometry node.

Definition at line 143 of file vrml_output.cpp.

void writeCurrentHead	(	std::ostream &	os,
		bool	allColor = false
	)

writes the current transform header and starts the shape + complete Appearance node, so you just need to write the geometry node afterwards

Definition at line 97 of file vrml_output.cpp.

void writeCylinder	(	std::ostream &	os,
		double	radius,
		double	height
	)

write a closed cylinder

Parameters:

os	the output stream
radius	the radius of the cylinder
height	the height of the cylinder

Definition at line 222 of file vrml_output.cpp.

void writeEllipsoid	(	std::ostream &	os,
		double	r1,
		double	r2,
		double	r3
	)

write a ellipsoid to a vrml file whose center is in the origin of the current coordinate frame

Parameters:

os	the output stream
r1	radius along x axis
r2	radius along y axis
r3	radius along z axis

Definition at line 199 of file vrml_output.cpp.

void writeEnd

(

std::ostream &

os

)

call to finish the writing

Definition at line 386 of file vrml_output.cpp.

template<class InputIterator >

void writeLines	(	std::ostream &	os,
		const InputIterator &	begin,
		const InputIterator &	end
	)

write an IndexedLineset. line are assumed in the following way 0-1, 2-3, 3-4 (just like GL_LINES) Limitation: They are all assumed to have the same color

Definition at line 269 of file include/hogman_minimal/graph_viewer/vrml_output.h.

template<class InputIterator >

void writeLineStrip	(	std::ostream &	os,
		const InputIterator &	begin,
		const InputIterator &	end
	)

write a line strip line is assumed in the following way 0-1-2-3-4 (just like GL_LINE_STRIP) Limitation: They are all assumed to have the same color

Definition at line 306 of file include/hogman_minimal/graph_viewer/vrml_output.h.

void writePlane	(	std::ostream &	os,
		double	l,
		double	w
	)

write a plane in x-y dimension with a height of zero

Parameters:

os	the output stream
l	length in x
w	width in y

Definition at line 245 of file vrml_output.cpp.

template<class InputIterator >

void writePoints	(	std::ostream &	os,
		const InputIterator &	begin,
		const InputIterator &	end
	)

write a PointSet. Limitation: They are all assumed to have the same color

Definition at line 403 of file include/hogman_minimal/graph_viewer/vrml_output.h.

void writePoseBox

(

std::ostream &

os

)

writes a box used to represent a 6d pose

Definition at line 350 of file vrml_output.cpp.

void writePyramid	(	std::ostream &	os,
		double	length,
		double	height
	)

write a pyramid

Definition at line 233 of file vrml_output.cpp.

template<class InputIterator >

void writeQuads	(	std::ostream &	os,
		const InputIterator &	begin,
		const InputIterator &	end
	)

write a list of quads (like GL_QUADS) Limitation: They are all assumed to have the same color

Definition at line 372 of file include/hogman_minimal/graph_viewer/vrml_output.h.

void writeScaleFoot

(

std::ostream &

os

)

write foot of scale transform

Definition at line 171 of file vrml_output.cpp.

void writeScaleHead	(	std::ostream &	os,
		double	sx,
		double	sy,
		double	sz
	)

write a scaling transformation to the stream, only the head, need to call foot function afterwards

Definition at line 151 of file vrml_output.cpp.

void writeSlice	(	std::ostream &	os,
		double	radius,
		double	height,
		double	fov,
		int	slices_per_circle = 32
	)

draw a slice of a cylinder (approximated with slices_per_circle triangles for the complete circle)

Parameters:

os	the output stream
radius	the radius of the cylinder
height	the height of the cylinder
fov	the "fov" of the slice (om degree)
slices_per_circle	the number of triangle used to approximate the fulle circle

Definition at line 255 of file vrml_output.cpp.

void writeSphere	(	std::ostream &	os,
		double	radius
	)

write a sphere to a vrml file whose center is in the origin of the current coordinate frame

Parameters:

os	the output stream
radius	the radius of the sphere

Definition at line 189 of file vrml_output.cpp.

void writeStart

(

std::ostream &

os

)

call first to init the output file

Definition at line 379 of file vrml_output.cpp.

template<class InputIterator >

void writeTriangles	(	std::ostream &	os,
		const InputIterator &	begin,
		const InputIterator &	end
	)

write a list of triangles (like GL_TRIANGLES) Limitation: They are all assumed to have the same color

Definition at line 342 of file include/hogman_minimal/graph_viewer/vrml_output.h.

void writeVrmlFileHeader

(

std::ostream &

os

)

write the required vrml header to the stream. Otherwise the file is not a valid vrml file.

Definition at line 240 of file vrml_output.cpp.

---

Variable Documentation

vrml_color_t g_vrml_color

the current vrml color

Definition at line 34 of file vrml_output.cpp.

vrml_color_t g_vrml_color

the current vrml color

Definition at line 34 of file vrml_output.cpp.

vrml::Matrix4x4 g_vrml_modelview

the current transformation matrix

Definition at line 35 of file vrml_output.cpp.

vrml::Matrix4x4 g_vrml_modelview

the current transformation matrix

Definition at line 35 of file vrml_output.cpp.