MRPT
2.0.4
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Base class for C*Visualizer classes.
By default provides visualization for a CNetowrkOfPoses containing nodes and edges as constructed by a single agent/robot. Derived classes can inherit and partially modify the class behavior
Definition at line 54 of file CNetworkOfPoses.h.
#include <mrpt/graphs/CNetworkOfPoses.h>
Public Types | |
using | GRAPH_T = mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > |
Public Member Functions | |
CVisualizer (const GRAPH_T &graph_in) | |
Constructor. More... | |
virtual | ~CVisualizer () |
Destructor. More... | |
virtual void | getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &object, mrpt::system::TParametersDouble viz_params) const |
Common visualization stuff for all derived classes. More... | |
Protected Member Functions | |
Work-splitting methods | |
Smaller functions that do add very specific parts to the visual representation Following functions take an optional TParametersDouble instance containing visualization parameters | |
virtual void | drawGroundGrid (mrpt::opengl::CSetOfObjects::Ptr &object, const mrpt::system::TParametersDouble *viz_params=nullptr) const |
virtual void | drawNodeCorners (mrpt::opengl::CSetOfObjects::Ptr &object, const mrpt::system::TParametersDouble *viz_params=nullptr) const |
virtual void | drawNodePoints (mrpt::opengl::CSetOfObjects::Ptr &object, const mrpt::system::TParametersDouble *viz_params=nullptr) const |
virtual void | drawEdgeRelPoses (mrpt::opengl::CSetOfObjects::Ptr &object, const mrpt::system::TParametersDouble *viz_params=nullptr) const |
virtual void | drawEdges (mrpt::opengl::CSetOfObjects::Ptr &object, const mrpt::system::TParametersDouble *viz_params=nullptr) const |
Protected Attributes | |
bool | m_is_3D_graph |
const GRAPH_T & | m_graph |
using mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::GRAPH_T = mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS> |
Definition at line 36 of file CVisualizer.h.
mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::CVisualizer | ( | const GRAPH_T & | graph_in | ) |
Constructor.
Definition at line 18 of file CVisualizer_impl.h.
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virtualdefault |
Destructor.
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protectedvirtual |
Definition at line 203 of file CVisualizer_impl.h.
References ASSERTMSG_, mrpt::opengl::stock_objects::CornerXYSimple(), mrpt::opengl::stock_objects::CornerXYZSimple(), mrpt::opengl::CSimpleLine::Create(), mrpt::opengl::CSetOfObjects::Create(), mrpt::system::TParameters< T >::getWithDefaultVal(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
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protectedvirtual |
Reimplemented in mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >, and mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >.
Definition at line 272 of file CVisualizer_impl.h.
References ASSERTMSG_, mrpt::system::TParameters< T >::getWithDefaultVal(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
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protectedvirtual |
Definition at line 88 of file CVisualizer_impl.h.
References ASSERTMSG_, mrpt::opengl::CGridPlaneXY::Create(), mrpt::keep_max(), mrpt::keep_min(), mrpt::math::TPoint3D_data< T >::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint3D_data< T >::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::TPoint3D_data< T >::z.
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protectedvirtual |
Definition at line 159 of file CVisualizer_impl.h.
References ASSERTMSG_, mrpt::opengl::stock_objects::CornerXYSimple(), mrpt::opengl::stock_objects::CornerXYZSimple(), mrpt::format(), and mrpt::system::TParameters< T >::getWithDefaultVal().
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protectedvirtual |
Reimplemented in mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >, and mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >.
Definition at line 125 of file CVisualizer_impl.h.
References ASSERTMSG_, mrpt::system::TParameters< T >::getWithDefaultVal(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
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virtual |
Common visualization stuff for all derived classes.
Function delegates visualization tasks to the draw* methods according to the user preferences
Definition at line 38 of file CVisualizer_impl.h.
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protected |
Definition at line 84 of file CVisualizer.h.
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protected |
Definition at line 83 of file CVisualizer.h.
Referenced by mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::CVisualizer().
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