libviewer

Functions
void	drawArrow (float length=1.0f, float radius=-1.0f, int nbSubdivisions=12)
void	drawArrow2D (float len, float head_width, float head_len)
void	drawAxis (float length=1.f)
void	drawBox (GLfloat l, GLfloat w, GLfloat h)
void	drawCone (GLfloat radius, GLfloat height)
void	drawCylinder (GLfloat radius, GLfloat height)
void	drawEllipsoid (GLfloat r1, GLfloat r2, GLfloat r3)
void	drawGrid (float size=1.0f, int nbSubdivisions=10)
void	drawPlane (GLfloat l, GLfloat w)
void	drawPoseBox ()
void	drawPyramid (GLfloat length, GLfloat height)
void	drawRangeRing (GLfloat range, GLfloat fov, GLfloat range_width=0.05)
void	drawSlice (GLfloat radius, GLfloat height, GLfloat fov, int slices_per_circle=32)
void	drawSphere (GLfloat radius)
void	initPrimitives ()
Variables
GLUquadricObj *	g_quadratic
GLUquadricObj *	g_quadratic

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Detailed Description

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Function Documentation

void drawArrow	(	float	length = 1.0f,
		float	radius = -1.0f,
		int	nbSubdivisions = 12
	)

Draws a 3D arrow along the positive Z axis.

Definition at line 48 of file primitives.cpp.

void drawArrow2D	(	float	len,
		float	head_width,
		float	head_len
	)

draw a 2D arrow along the x axis with the given len

Definition at line 58 of file primitives.cpp.

void drawAxis

(

float

length = 1.f

)

Draws an XYZ axis, with a given len (default is 1.0).

The axis position and orientation matches the current modelView matrix state: three arrows (red, green and blue) of length length are drawn along the positive X, Y and Z directions.

Definition at line 43 of file primitives.cpp.

void drawBox	(	GLfloat	l,
		GLfloat	w,
		GLfloat	h
	)			[inline]

draw a box that is centered in the current coordinate frame

Parameters:

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

Definition at line 48 of file src/graph_viewer/primitives.h.

void drawCone	(	GLfloat	radius,
		GLfloat	height
	)			[inline]

draw a cone

Definition at line 144 of file src/graph_viewer/primitives.h.

void drawCylinder	(	GLfloat	radius,
		GLfloat	height
	)			[inline]

draw a (closed) cylinder

Parameters:

	radius	the radius of the cylinder
	height	the height of the cylinder

Definition at line 159 of file src/graph_viewer/primitives.h.

void drawEllipsoid	(	GLfloat	r1,
		GLfloat	r2,
		GLfloat	r3
	)			[inline]

draw a ellipsoid whose center is in the origin of the current coordinate frame

Parameters:

	r1	radius along x axis
	r2	radius along y axis
	r3	radius along z axis

Definition at line 128 of file src/graph_viewer/primitives.h.

void drawGrid	(	float	size = 1.0f,
		int	nbSubdivisions = 10
	)

Draws a grid in the XY plane, centered on (0,0,0) (defined in the current coordinate system).

Definition at line 53 of file primitives.cpp.

void drawPlane	(	GLfloat	l,
		GLfloat	w
	)			[inline]

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

Parameters:

	l	length in x
	w	width in y

Definition at line 99 of file src/graph_viewer/primitives.h.

void drawPoseBox

(

)

draws a box used to represent a 6d pose

Definition at line 73 of file primitives.cpp.

void drawPyramid	(	GLfloat	length,
		GLfloat	height
	)			[inline]

draw a pyramid

Definition at line 175 of file src/graph_viewer/primitives.h.

void drawRangeRing	(	GLfloat	range,
		GLfloat	fov,
		GLfloat	range_width = 0.05
	)			[inline]

draw a range ring

Parameters:

	range	the range (radius) of the partial ring
	fov	Field Of View of the range sensor
	range_width	specify how thick the ring should be drawn

Definition at line 191 of file src/graph_viewer/primitives.h.

void drawSlice	(	GLfloat	radius,
		GLfloat	height,
		GLfloat	fov,
		int	slices_per_circle = 32
	)			[inline]

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

Parameters:

	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 206 of file src/graph_viewer/primitives.h.

void drawSphere

(

GLfloat

radius

)

[inline]

draw a sphere whose center is in the origin of the current coordinate frame

Parameters:

radius

the radius of the sphere

Definition at line 117 of file src/graph_viewer/primitives.h.

void initPrimitives

(

)

Call this function before using any of the draw functions

Definition at line 33 of file primitives.cpp.

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Variable Documentation

GLUquadricObj* g_quadratic

Quadratic used in several drawing functions

Definition at line 23 of file primitives.cpp.

GLUquadricObj* g_quadratic

Quadratic used in several drawing functions

Definition at line 23 of file primitives.cpp.