TrajectoryDrawer.h

Go to the documentation of this file.

/*
 * This file is part of OctoMap - An Efficient Probabilistic 3D Mapping
 * Framework Based on Octrees
 * http://octomap.github.io
 *
 * Copyright (c) 2009-2014, K.M. Wurm and A. Hornung, University of Freiburg
 * All rights reserved. License for the viewer octovis: GNU GPL v2
 * http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt
 *
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see http://www.gnu.org/licenses/.
 */

#ifndef TRAJECTORYDRAWER_H_
#define TRAJECTORYDRAWER_H_

#include "SceneObject.h"
#include <vector>

namespace octomap {

  class TrajectoryDrawer : public ScanGraphDrawer{
  public:
    TrajectoryDrawer();
    TrajectoryDrawer(const ScanGraph& graph);
    virtual ~TrajectoryDrawer();
    virtual void draw() const;
    virtual void clear();
    virtual void setScanGraph(const octomap::ScanGraph& graph);

  protected:
    GLfloat* m_trajectoryVertexArray;
    GLfloat* m_trajectoryColorArray;
    unsigned int m_trajectorySize; 
  };

}

#endif /* TRAJECTORYDRAWER_H_ */