#include <OcTreeDrawer.h>

Inheritance diagram for octomap::OcTreeDrawer:

Public Member Functions
void	clear ()

void	clearOcTreeSelection ()
	clear the visualization of the OcTree selection More...

void	draw () const

void	enableAxes (bool enabled=true)

void	enableFreespace (bool enabled=true)

void	enableOcTree (bool enabled=true)

void	enableOcTreeCells (bool enabled=true)

void	enableSelection (bool enabled=true)

	OcTreeDrawer ()

void	setAlphaOccupied (double alpha)
	sets alpha level for occupied cells More...

void	setMax_tree_depth (unsigned int max_tree_depth)

void	setOcTree (const AbstractOcTree &octree)
	sets a new OcTree that should be drawn by this drawer More...

virtual void	setOcTree (const AbstractOcTree &octree, const octomap::pose6d &origin, int map_id_)

void	setOcTreeSelection (const std::list< octomap::OcTreeVolume > &selectedPoints)
	sets a new selection of the current OcTree to be drawn More...

void	setOrigin (octomap::pose6d t)

virtual	~OcTreeDrawer ()

Public Member Functions inherited from octomap::SceneObject
void	enableHeightColorMode (bool enabled=true)

void	enablePrintoutMode (bool enabled=true)

void	enableSemanticColoring (bool enabled=true)

	SceneObject ()

void	setColorMode (ColorMode mode)

virtual	~SceneObject ()

Protected Member Functions
void	clearCubes (GLfloat *glArray, unsigned int &glArraySize, GLfloat glColorArray=NULL)
	clear OpenGL visualization More...

void	clearOcTreeStructure ()

void	drawAxes () const

void	drawCubes (GLfloat *cubeArray, unsigned int cubeArraySize, GLfloat cubeColorArray=NULL) const

void	drawFreeVoxels () const

void	drawOccupiedVoxels () const

void	drawOctreeGrid () const

void	drawSelection () const

unsigned int	generateCube (const octomap::OcTreeVolume &v, const std::vector< octomath::Vector3 > &cube_template, const unsigned int &current_array_idx, GLfloat ***glArray)
	add one cube to arrays More...

void	generateCubes (const std::list< octomap::OcTreeVolume > &voxels, GLfloat *glArray, unsigned int &glArraySize, octomath::Pose6D &origin, GLfloat glColorArray=NULL)

void	initCubeTemplate (const octomath::Pose6D &origin, std::vector< octomath::Vector3 > &cube_template)
	setup cube template More...

void	initGLArrays (const unsigned int &num_cubes, unsigned int &glArraySize, GLfloat *glArray, GLfloat glColorArray)
	setup OpenGL arrays More...

void	initOctreeGridVis ()

unsigned int	setCubeColorHeightmap (const octomap::OcTreeVolume &v, const unsigned int &current_array_idx, GLfloat **glColorArray)

unsigned int	setCubeColorRGBA (const unsigned char &r, const unsigned char &g, const unsigned char &b, const unsigned char &a, const unsigned int &current_array_idx, GLfloat **glColorArray)

Protected Member Functions inherited from octomap::SceneObject
void	heightMapColor (double h, GLfloat *glArrayPos) const

void	heightMapGray (double h, GLfloat *glArrayPos) const

Protected Attributes
octomap::pose6d	initial_origin

double	m_alphaOccupied

bool	m_displayAxes

bool	m_drawFree

bool	m_drawOccupied

bool	m_drawOcTreeGrid

bool	m_drawSelection

GLfloat **	m_freeArray

unsigned int	m_freeSize

GLfloat **	m_freeThresArray

unsigned int	m_freeThresSize

std::list< octomap::OcTreeVolume >	m_grid_voxels

unsigned int	m_max_tree_depth

GLfloat **	m_occupiedArray

GLfloat *	m_occupiedColorArray

unsigned int	m_occupiedSize

GLfloat **	m_occupiedThresArray
	OpenGL representation of Octree cells (cubes) More...

GLfloat *	m_occupiedThresColorArray
	Color array for occupied cells (height) More...

unsigned int	m_occupiedThresSize

bool	m_octree_grid_vis_initialized

GLfloat **	m_selectionArray

unsigned int	m_selectionSize

int	map_id

GLfloat *	octree_grid_vertex_array
	OpenGL representation of Octree (grid structure) More...

unsigned int	octree_grid_vertex_size

octomap::pose6d	origin

Protected Attributes inherited from octomap::SceneObject
ColorMode	m_colorMode

double	m_zMax

double	m_zMin

Additional Inherited Members
Public Types inherited from octomap::SceneObject
enum	ColorMode { CM_FLAT, CM_PRINTOUT, CM_COLOR_HEIGHT, CM_GRAY_HEIGHT, CM_SEMANTIC }

Detailed Description

Definition at line 32 of file OcTreeDrawer.h.

Constructor & Destructor Documentation

octomap::OcTreeDrawer::OcTreeDrawer ( )

Definition at line 32 of file OcTreeDrawer.cpp.

octomap::OcTreeDrawer::~OcTreeDrawer ( )

virtual

Definition at line 57 of file OcTreeDrawer.cpp.

Member Function Documentation

void octomap::OcTreeDrawer::clear ( )

virtual

Clears the object's representation (will be called when it gets invalid)

Reimplemented from octomap::SceneObject.

Definition at line 633 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::clearCubes	(	GLfloat ***	glArray,
		unsigned int &	glArraySize,
		GLfloat **	glColorArray = `NULL`
	)

protected

clear OpenGL visualization

Definition at line 458 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::clearOcTreeSelection ( )

clear the visualization of the OcTree selection

Definition at line 215 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::clearOcTreeStructure ( )

protected

Definition at line 625 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::draw ( ) const

virtual

Actual draw function which will be called to visualize the object

Implements octomap::SceneObject.

Definition at line 61 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::drawAxes ( ) const

protected

Definition at line 839 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::drawCubes	(	GLfloat **	cubeArray,
		unsigned int	cubeArraySize,
		GLfloat *	cubeColorArray = `NULL`
	)		const

protected

Definition at line 716 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::drawFreeVoxels ( ) const

protected

Definition at line 685 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::drawOccupiedVoxels ( ) const

protected

Definition at line 644 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::drawOctreeGrid ( ) const

protected

Definition at line 804 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::drawSelection ( ) const

protected

Definition at line 709 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::enableAxes ( bool enabled = true )

inline

Definition at line 71 of file OcTreeDrawer.h.

void octomap::OcTreeDrawer::enableFreespace ( bool enabled = true )

inline

Definition at line 65 of file OcTreeDrawer.h.

void octomap::OcTreeDrawer::enableOcTree ( bool enabled = true )

Definition at line 820 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::enableOcTreeCells ( bool enabled = true )

inline

Definition at line 64 of file OcTreeDrawer.h.

void octomap::OcTreeDrawer::enableSelection ( bool enabled = true )

inline

Definition at line 66 of file OcTreeDrawer.h.

unsigned int octomap::OcTreeDrawer::generateCube	(	const octomap::OcTreeVolume &	v,
		const std::vector< octomath::Vector3 > &	cube_template,
		const unsigned int &	current_array_idx,
		GLfloat ***	glArray
	)

protected

add one cube to arrays

Definition at line 272 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::generateCubes	(	const std::list< octomap::OcTreeVolume > &	voxels,
		GLfloat ***	glArray,
		unsigned int &	glArraySize,
		octomath::Pose6D &	origin,
		GLfloat **	glColorArray = `NULL`
	)

protected

Initializes the OpenGL visualization for a list of OcTreeVolumes The array is cleared first, if needed rotates cubes to correct reference frame

Definition at line 477 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::initCubeTemplate	(	const octomath::Pose6D &	origin,
		std::vector< octomath::Vector3 > &	cube_template
	)

protected

setup cube template

Definition at line 238 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::initGLArrays	(	const unsigned int &	num_cubes,
		unsigned int &	glArraySize,
		GLfloat ***	glArray,
		GLfloat **	glColorArray
	)

protected

setup OpenGL arrays

Definition at line 219 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::initOctreeGridVis ( )

protected

Definition at line 500 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::setAlphaOccupied ( double alpha )

sets alpha level for occupied cells

Definition at line 105 of file OcTreeDrawer.cpp.

unsigned int octomap::OcTreeDrawer::setCubeColorHeightmap	(	const octomap::OcTreeVolume &	v,
		const unsigned int &	current_array_idx,
		GLfloat **	glColorArray
	)

protected

Definition at line 417 of file OcTreeDrawer.cpp.

unsigned int octomap::OcTreeDrawer::setCubeColorRGBA	(	const unsigned char &	r,
		const unsigned char &	g,
		const unsigned char &	b,
		const unsigned char &	a,
		const unsigned int &	current_array_idx,
		GLfloat **	glColorArray
	)

protected

Definition at line 437 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::setMax_tree_depth ( unsigned int max_tree_depth )

inline

Definition at line 67 of file OcTreeDrawer.h.

void octomap::OcTreeDrawer::setOcTree ( const AbstractOcTree & octree )

inline

sets a new OcTree that should be drawn by this drawer

Definition at line 43 of file OcTreeDrawer.h.

void octomap::OcTreeDrawer::setOcTree	(	const AbstractOcTree &	octree,
		const octomap::pose6d &	origin,
		int	map_id_
	)

virtual

sets a new OcTree that should be drawn by this drawer origin specifies a global transformation that should be applied

Reimplemented in octomap::ColorOcTreeDrawer.

Definition at line 110 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::setOcTreeSelection ( const std::list< octomap::OcTreeVolume > & selectedPoints )

sets a new selection of the current OcTree to be drawn

Definition at line 211 of file OcTreeDrawer.cpp.

void octomap::OcTreeDrawer::setOrigin ( octomap::pose6d t )

Definition at line 828 of file OcTreeDrawer.cpp.

Member Data Documentation

octomap::pose6d octomap::OcTreeDrawer::initial_origin

protected

Definition at line 154 of file OcTreeDrawer.h.

double octomap::OcTreeDrawer::m_alphaOccupied

protected

Definition at line 151 of file OcTreeDrawer.h.

bool octomap::OcTreeDrawer::m_displayAxes

protected

Definition at line 148 of file OcTreeDrawer.h.

bool octomap::OcTreeDrawer::m_drawFree

protected

Definition at line 145 of file OcTreeDrawer.h.

bool octomap::OcTreeDrawer::m_drawOccupied

protected

Definition at line 143 of file OcTreeDrawer.h.

bool octomap::OcTreeDrawer::m_drawOcTreeGrid

protected

Definition at line 144 of file OcTreeDrawer.h.

bool octomap::OcTreeDrawer::m_drawSelection

protected

Definition at line 146 of file OcTreeDrawer.h.

GLfloat** octomap::OcTreeDrawer::m_freeArray

protected

Definition at line 127 of file OcTreeDrawer.h.

unsigned int octomap::OcTreeDrawer::m_freeSize

protected

Definition at line 128 of file OcTreeDrawer.h.

GLfloat** octomap::OcTreeDrawer::m_freeThresArray

protected

Definition at line 123 of file OcTreeDrawer.h.

unsigned int octomap::OcTreeDrawer::m_freeThresSize

protected

Definition at line 124 of file OcTreeDrawer.h.

std::list<octomap::OcTreeVolume> octomap::OcTreeDrawer::m_grid_voxels

protected

Definition at line 141 of file OcTreeDrawer.h.

unsigned int octomap::OcTreeDrawer::m_max_tree_depth

protected

Definition at line 150 of file OcTreeDrawer.h.

GLfloat** octomap::OcTreeDrawer::m_occupiedArray

protected

Definition at line 125 of file OcTreeDrawer.h.

GLfloat* octomap::OcTreeDrawer::m_occupiedColorArray

protected

Definition at line 134 of file OcTreeDrawer.h.

unsigned int octomap::OcTreeDrawer::m_occupiedSize

protected

Definition at line 126 of file OcTreeDrawer.h.

GLfloat** octomap::OcTreeDrawer::m_occupiedThresArray

protected

OpenGL representation of Octree cells (cubes)

Definition at line 121 of file OcTreeDrawer.h.

GLfloat* octomap::OcTreeDrawer::m_occupiedThresColorArray

protected

Color array for occupied cells (height)

Definition at line 133 of file OcTreeDrawer.h.

unsigned int octomap::OcTreeDrawer::m_occupiedThresSize

protected

Definition at line 122 of file OcTreeDrawer.h.

bool octomap::OcTreeDrawer::m_octree_grid_vis_initialized

protected

Definition at line 147 of file OcTreeDrawer.h.

GLfloat** octomap::OcTreeDrawer::m_selectionArray

protected

Definition at line 129 of file OcTreeDrawer.h.

unsigned int octomap::OcTreeDrawer::m_selectionSize

protected

Definition at line 130 of file OcTreeDrawer.h.

int octomap::OcTreeDrawer::map_id

protected

Definition at line 156 of file OcTreeDrawer.h.

GLfloat* octomap::OcTreeDrawer::octree_grid_vertex_array

protected

OpenGL representation of Octree (grid structure)

Definition at line 138 of file OcTreeDrawer.h.

unsigned int octomap::OcTreeDrawer::octree_grid_vertex_size

protected

Definition at line 139 of file OcTreeDrawer.h.

octomap::pose6d octomap::OcTreeDrawer::origin

protected

Definition at line 153 of file OcTreeDrawer.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation