Class SceneObject

Defined in File SceneObject.h

Inheritance Relationships

Derived Types

public octomap::OcTreeDrawer (Class OcTreeDrawer)
public octomap::ScanGraphDrawer (Class ScanGraphDrawer)

Class Documentation

class SceneObject

Abstract base class for objects to be drawn in the ViewerWidget.

Subclassed by octomap::OcTreeDrawer, octomap::ScanGraphDrawer

Public Types

enum ColorMode

Values:

enumerator CM_FLAT

enumerator CM_PRINTOUT

enumerator CM_COLOR_HEIGHT

enumerator CM_GRAY_HEIGHT

enumerator CM_SEMANTIC

Public Functions

SceneObject()

inline virtual ~SceneObject()

virtual void draw() const = 0: Actual draw function which will be called to visualize the object

inline virtual void clear(): Clears the object’s representation (will be called when it gets invalid)

inline void setColorMode(ColorMode mode): the color mode has to be set before calling OcTreDrawer::setMap() because the cubes are generated in OcTreDrawer::setMap() using the color information

inline void enablePrintoutMode(bool enabled = true)

inline void enableHeightColorMode(bool enabled = true)

inline void enableSemanticColoring(bool enabled = true)

Protected Functions

void heightMapColor(double h, GLfloat *glArrayPos) const: writes rgb values which correspond to a rel. height in the map. (glArrayPos needs to have at least size 3!)

void heightMapGray(double h, GLfloat *glArrayPos) const

Protected Attributes

double m_zMin

double m_zMax

ColorMode m_colorMode