GLlink.h
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1 #ifndef __GLLINK_H__
2 #define __GLLINK_H__
3 
4 #include <string>
5 #include <vector>
6 #ifdef __APPLE__
7 #include <OpenGL/gl.h>
8 #else
9 #include <GL/gl.h>
10 #endif
11 #include <hrpModel/Link.h>
12 #include "GLcoordinates.h"
13 
14 class GLcamera;
15 class GLshape;
16 
17 class GLlink : public hrp::Link, public GLcoordinates
18 {
19 public:
21 
22  GLlink();
23  ~GLlink();
24  size_t draw();
25  void setQ(double i_q);
26 
27  GLcamera *findCamera(const char *i_name);
28 
29  void computeAbsTransform();
30  void computeAbsTransform(double o_trans[16]);
31  void setAbsTransform(double o_trans[16]);
32  void addShape(GLshape *shape);
33  void addCamera(GLcamera *camera);
34  void showAxes(bool flag);
35  void highlight(bool flag);
36  void divideLargeTriangles(double maxEdgeLen);
37  const std::vector<GLcamera *>& cameras();
38  void computeAABB(hrp::Vector3& o_min, hrp::Vector3& o_max);
39  static void useAbsTransformToDraw();
40  static int drawMode();
41  static void drawMode(int i_mode);
42 protected:
44  static int m_drawMode;
45  std::vector<GLcamera *> m_cameras;
46  double m_T_j[16], m_absTrans[16];
47  std::vector<GLshape *> m_shapes;
49 };
50 
52 
53 #endif
Eigen::Vector3d Vector3
png_infop png_uint_32 flag


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:20