Program Listing for File VizInterface.h

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/* -------------------------------------------------------------------------
 *   A Modular Optimization framework for Localization and mApping  (MOLA)
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once

#include <mrpt/gui/CDisplayWindowGUI.h>  // nanogui
#include <mrpt/math/TPoint3D.h>

#include <future>
#include <memory>

namespace mola
{
class VizInterface
{
   public:
    VizInterface()          = default;
    virtual ~VizInterface() = default;

    using Ptr = std::shared_ptr<VizInterface>;

    // ===============================
    // See class MolaViz for docs
    // ===============================

    virtual std::future<nanogui::Window*> create_subwindow(
        const std::string& title, const std::string& parentWindow = "main") = 0;

    virtual std::future<bool> subwindow_update_visualization(
        const mrpt::rtti::CObject::Ptr& obj, const std::string& subWindowTitle,
        const std::string& parentWindow = "main") = 0;

    virtual std::future<bool> update_3d_object(
        const std::string&                                  objName,
        const std::shared_ptr<mrpt::opengl::CSetOfObjects>& obj,
        const std::string& viewportName = "main",
        const std::string& parentWindow = "main") = 0;

    virtual std::future<bool> update_viewport_look_at(
        const mrpt::math::TPoint3Df& lookAt,
        const std::string&           viewportName = "main",
        const std::string&           parentWindow = "main") = 0;

    virtual std::future<void> enqueue_custom_nanogui_code(
        const std::function<void(void)>& userCode) = 0;

    virtual std::future<bool> output_console_message(
        const std::string& msg, const std::string& parentWindow = "main") = 0;
};

}  // namespace mola