band.h
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00001 /*
00002  * Copyright 2014 Google Inc. All Rights Reserved.
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *      http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #ifndef TANGO_GL_BAND_H_
00018 #define TANGO_GL_BAND_H_
00019 
00020 #include <stdlib.h>
00021 #include <vector>
00022 
00023 #include "tango-gl/drawable_object.h"
00024 
00025 namespace tango_gl {
00026 class Band : public DrawableObject {
00027  public:
00028   enum BandMode {
00029     kNormal = 0,
00030     kKeepLeft = 1,
00031     kKeepRight = 2
00032   };
00033 
00034   Band(const unsigned int max_legnth);
00035 
00036   void SetWidth(const float width);
00037   // Render a Band with arrow head, pass in the mode for rendering,
00038   // kKeepLeft is left turn, kKeepRight is right turn,
00039   // when making a turn, vertices only get updated in one side to avoid overlapping.
00040   void UpdateVertexArray(const glm::mat4 m, BandMode mode);
00041   void UpdateVertexArray(const glm::mat4 m);
00042   void SetVertexArray(const std::vector<glm::vec3>& v, const glm::vec3& up);
00043   void ClearVertexArray();
00044   void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
00045 
00046  private:
00047   float band_width_;
00048   unsigned int max_length_;
00049   std::vector<glm::vec3> vertices_v_;
00050   // Current band head's left and right position in world frame.
00051   glm::vec3 pivot_left;
00052   glm::vec3 pivot_right;
00053 };
00054 }  // namespace tango_gl
00055 #endif  // TANGO_GL_BAND_H_


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:18