#include <reference_frames.hpp>
Public Types | |
enum | Label { Map = 0, VisualOdom, Odom } |
Public Member Functions | |
void | draw () |
ReferenceFrame (const std::string &name, const Sophus::SE3f &T, const Colour &colour=Yellow, const Sophus::SE3f &parent=Sophus::SE3f(Eigen::Matrix3f::Identity(), Eigen::Vector3f::Zero())) | |
~ReferenceFrame () | |
Public Attributes | |
std::string | name |
Name of this frame, exposed so we can draw a label on the frame in the qgl viewer. | |
Sophus::SE3f | T_frame_rel_map |
6D information | |
Static Public Attributes | |
static const float | default_keyframe_size = 0.6 |
Private Member Functions | |
void | _glGenLists () |
Private Attributes | |
Colour | colour |
int | gl_id_start |
Opengl id starting point for the lists. |
Show just a frame floating in free space with a single line linking it back to its parent (think tf's in ROS).
Definition at line 34 of file reference_frames.hpp.
Definition at line 36 of file reference_frames.hpp.
qglv::ReferenceFrame::ReferenceFrame | ( | const std::string & | name, |
const Sophus::SE3f & | T, | ||
const Colour & | colour = Yellow , |
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const Sophus::SE3f & | parent = Sophus::SE3f(Eigen::Matrix3f::Identity(), Eigen::Vector3f::Zero()) |
||
) |
Definition at line 30 of file reference_frames.cpp.
Definition at line 43 of file reference_frames.cpp.
void qglv::ReferenceFrame::_glGenLists | ( | ) | [private] |
Definition at line 61 of file reference_frames.cpp.
void qglv::ReferenceFrame::draw | ( | ) |
Definition at line 49 of file reference_frames.cpp.
Colour qglv::ReferenceFrame::colour [private] |
Definition at line 59 of file reference_frames.hpp.
const float qglv::ReferenceFrame::default_keyframe_size = 0.6 [static] |
Definition at line 55 of file reference_frames.hpp.
int qglv::ReferenceFrame::gl_id_start [private] |
Opengl id starting point for the lists.
Definition at line 60 of file reference_frames.hpp.
std::string qglv::ReferenceFrame::name |
Name of this frame, exposed so we can draw a label on the frame in the qgl viewer.
Definition at line 53 of file reference_frames.hpp.
Sophus::SE3f qglv::ReferenceFrame::T_frame_rel_map |
6D information
Definition at line 52 of file reference_frames.hpp.