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mrpt::opengl::CRenderizable Class Referenceabstract

Detailed Description

The base class of 3D objects that can be directly rendered through OpenGL.

In this class there are a set of common properties to all 3D objects, mainly:

Definition at line 44 of file CRenderizable.h.

#include <mrpt/opengl/CRenderizable.h>

Inheritance diagram for mrpt::opengl::CRenderizable:
Inheritance graph

Public Member Functions

 CRenderizable ()
 Default constructor:
More...
 
virtual ~CRenderizable ()
 
CRenderizableclone () const
 Interface for the stlplus smart pointer class. More...
 
virtual void render () const =0
 Implements the rendering of 3D objects in each class derived from CRenderizable. More...
 
virtual bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const
 Simulation of ray-trace, given a pose. More...
 
virtual void getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const =0
 Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
virtual CObject * duplicate () const =0
 Returns a copy of the object, indepently of its class. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 

Static Public Member Functions

static void renderTextBitmap (const char *str, void *fontStyle)
 This method is safe for calling from within ::render() methods. More...
 
static int textBitmapWidth (const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
 Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap(). More...
 
static void renderTextBitmap (int screen_x, int screen_y, const std::string &str, float color_r=1, float color_g=1, float color_b=1, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
 Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods) More...
 

Static Public Attributes

static const mrpt::utils::TRuntimeClassId classCObject
 

Protected Member Functions

void writeToStreamRender (utils::CStream &out) const
 
void readFromStreamRender (utils::CStream &in)
 
virtual void writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
virtual void readFromStream (mrpt::utils::CStream &in, int version)=0
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 

Static Protected Member Functions

static void checkOpenGLError ()
 Checks glGetError and throws an exception if an error situation is found. More...
 
static unsigned int getNewTextureNumber ()
 Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool). More...
 
static void releaseTextureName (unsigned int i)
 

Protected Attributes

std::string m_name
 
bool m_show_name
 
mrpt::utils::TColor m_color
 Color components in the range [0,255]. More...
 
mrpt::poses::CPose3D m_pose
 6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack. More...
 
float m_scale_x
 
float m_scale_y
 
float m_scale_z
 Scale components to apply to the object (default=1) More...
 
bool m_visible
 Is the object visible? (default=true) More...
 

Friends

class mrpt::opengl::COpenGLViewport
 
class mrpt::opengl::CSetOfObjects
 

RTTI stuff


static const mrpt::utils::TRuntimeClassId classCRenderizable
 
class mrpt::utils::CStream
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 

Constructor & Destructor Documentation

◆ CRenderizable()

mrpt::opengl::CRenderizable::CRenderizable ( )

Default constructor:

◆ ~CRenderizable()

virtual mrpt::opengl::CRenderizable::~CRenderizable ( )
virtual

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CRenderizable::_GetBaseClass ( )
staticprotected

◆ checkOpenGLError()

static void mrpt::opengl::CRenderizable::checkOpenGLError ( )
staticprotected

Checks glGetError and throws an exception if an error situation is found.

◆ clone()

CRenderizable* mrpt::opengl::CRenderizable::clone ( ) const
inline

Interface for the stlplus smart pointer class.

Definition at line 148 of file CRenderizable.h.

◆ duplicate()

virtual CObject* mrpt::utils::CObject::duplicate ( ) const
pure virtualinherited

Returns a copy of the object, indepently of its class.

Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::utils::CSimpleDatabase, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservation3DRangeScan, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::gui::CDisplayWindow3D, mrpt::hmtslam::THypothesisIDSet, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CMultiMetricMapPDF, mrpt::obs::CObservationRGBD360, mrpt::maps::TMapGenericParams, mrpt::hmtslam::CHMTSLAM, mrpt::obs::CObservationGPS, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::poses::CPose3DInterpolator, mrpt::obs::CObservationVelodyneScan, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::pbmap::Plane, mrpt::opengl::CFrustum, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::utils::CMHPropertiesValuesList, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::obs::CObservation2DRangeScan, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::poses::CPointPDFSOG, mrpt::maps::COctoMap, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::gui::CDisplayWindowPlots, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::maps::CLandmark, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredOctoMap, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CPolyhedron, mrpt::obs::CObservationOdometry, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::CMemoryChunk, mrpt::utils::TCamera, mrpt::obs::CActionCollection, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CPropertiesValuesList, mrpt::utils::CSimpleDatabaseTable, mrpt::gui::CDisplayWindow, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::obs::CObservationCANBusJ1939, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, and mrpt::opengl::COpenGLStandardObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 136 of file CObject.h.

◆ getBoundingBox()

virtual void mrpt::opengl::CRenderizable::getBoundingBox ( mrpt::math::TPoint3D bb_min,
mrpt::math::TPoint3D bb_max 
) const
pure virtual

◆ getNewTextureNumber()

static unsigned int mrpt::opengl::CRenderizable::getNewTextureNumber ( )
staticprotected

Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).


◆ getPose()

mrpt::math::TPose3D mrpt::opengl::CRenderizable::getPose ( ) const

Returns the 3D pose of the object as TPose3D.

◆ getPoseRef()

const mrpt::poses::CPose3D& mrpt::opengl::CRenderizable::getPoseRef ( ) const
inline

Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix)

Definition at line 79 of file CRenderizable.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::opengl::CRenderizable::GetRuntimeClass ( ) const
virtual

◆ isVisible()

bool mrpt::opengl::CRenderizable::isVisible ( ) const
inline

Is the object visible?

See also
setVisibility

Definition at line 66 of file CRenderizable.h.

◆ readFromStream()

virtual void mrpt::utils::CSerializable::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedpure virtualinherited

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::utils::CSimpleDatabase, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservation3DRangeScan, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CMultiMetricMapPDF, mrpt::obs::CObservationRGBD360, mrpt::maps::TMapGenericParams, mrpt::hmtslam::CHMTSLAM, mrpt::obs::CObservationGPS, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::poses::CPose3DInterpolator, mrpt::obs::CObservationVelodyneScan, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::pbmap::Plane, mrpt::opengl::CFrustum, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::utils::CMHPropertiesValuesList, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::obs::CObservation2DRangeScan, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::poses::CPointPDFSOG, mrpt::maps::COctoMap, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::maps::CLandmark, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredOctoMap, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CPolyhedron, mrpt::obs::CObservationOdometry, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::CMemoryChunk, mrpt::utils::TCamera, mrpt::obs::CActionCollection, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CPropertiesValuesList, mrpt::utils::CSimpleDatabaseTable, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::obs::CObservationCANBusJ1939, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, and mrpt::opengl::COpenGLStandardObject.

◆ readFromStreamRender()

void mrpt::opengl::CRenderizable::readFromStreamRender ( utils::CStream in)
protected

◆ releaseTextureName()

static void mrpt::opengl::CRenderizable::releaseTextureName ( unsigned int  i)
staticprotected

◆ render()

virtual void mrpt::opengl::CRenderizable::render ( ) const
pure virtual

◆ renderTextBitmap() [1/2]

static void mrpt::opengl::CRenderizable::renderTextBitmap ( const char *  str,
void *  fontStyle 
)
static

This method is safe for calling from within ::render() methods.

See also
renderTextBitmap, mrpt::opengl::gl_utils

◆ renderTextBitmap() [2/2]

static void mrpt::opengl::CRenderizable::renderTextBitmap ( int  screen_x,
int  screen_y,
const std::string &  str,
float  color_r = 1,
float  color_g = 1,
float  color_b = 1,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
static

Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)

  • Coordinates (x,y) are 2D pixels, starting at bottom-left of the viewport. Negative numbers will wrap to the opposite side of the viewport (e.g. x=-10 means 10px fromt the right).
  • The text color is defined by (color_r,color_g,color_b), each float numbers in the range [0,1].
    See also
    renderTextBitmap, textBitmapWidth, mrpt::opengl::gl_utils

◆ setColor() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf c)
inline
Parameters
cChanges the default object color
Returns
a ref to this

Definition at line 125 of file CRenderizable.h.

References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, and mrpt::utils::TColorf::R.

◆ setColor() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( double  R,
double  G,
double  B,
double  A = 1 
)
inline

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns
a ref to this

Definition at line 131 of file CRenderizable.h.

◆ setColor_u8() [1/2]

virtual CRenderizable& mrpt::opengl::CRenderizable::setColor_u8 ( const mrpt::utils::TColor c)
virtual

◆ setColor_u8() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor_u8 ( uint8_t  R,
uint8_t  G,
uint8_t  B,
uint8_t  A = 255 
)
inline

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns
a ref to this

Definition at line 138 of file CRenderizable.h.

References setColor_u8().

Referenced by setColor_u8().

◆ setLocation() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( const mrpt::math::TPoint3D p)
inline

Changes the location of the object, keeping untouched the orientation.

Returns
a ref to this

Definition at line 85 of file CRenderizable.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ setLocation() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( double  x,
double  y,
double  z 
)
inline

Changes the location of the object, keeping untouched the orientation.

Returns
a ref to this

Definition at line 82 of file CRenderizable.h.

◆ setPose() [1/4]

CRenderizable& mrpt::opengl::CRenderizable::setPose ( const mrpt::math::TPose3D o)

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

◆ setPose() [2/4]

CRenderizable& mrpt::opengl::CRenderizable::setPose ( const mrpt::poses::CPoint2D o)

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

◆ setPose() [3/4]

CRenderizable& mrpt::opengl::CRenderizable::setPose ( const mrpt::poses::CPoint3D o)

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

◆ setPose() [4/4]

CRenderizable& mrpt::opengl::CRenderizable::setPose ( const mrpt::poses::CPose3D o)

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

◆ setVisibility()

void mrpt::opengl::CRenderizable::setVisibility ( bool  visible = true)
inline

Set object visibility (default=true)

See also
isVisible

Definition at line 67 of file CRenderizable.h.

◆ textBitmapWidth()

static int mrpt::opengl::CRenderizable::textBitmapWidth ( const std::string &  str,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
static

Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().

See also
renderTextBitmap, mrpt::opengl::gl_utils

◆ traceRay()

virtual bool mrpt::opengl::CRenderizable::traceRay ( const mrpt::poses::CPose3D o,
double &  dist 
) const
virtual

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

virtual void mrpt::utils::CSerializable::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protectedpure virtualinherited

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::utils::CSimpleDatabase, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservation3DRangeScan, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CMultiMetricMapPDF, mrpt::obs::CObservationRGBD360, mrpt::maps::TMapGenericParams, mrpt::hmtslam::CHMTSLAM, mrpt::obs::CObservationGPS, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::poses::CPose3DInterpolator, mrpt::obs::CObservationVelodyneScan, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::pbmap::Plane, mrpt::opengl::CFrustum, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::utils::CMHPropertiesValuesList, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::obs::CObservation2DRangeScan, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::poses::CPointPDFSOG, mrpt::maps::COctoMap, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::maps::CLandmark, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredOctoMap, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CPolyhedron, mrpt::obs::CObservationOdometry, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::CMemoryChunk, mrpt::utils::TCamera, mrpt::obs::CActionCollection, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CPropertiesValuesList, mrpt::utils::CSimpleDatabaseTable, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::obs::CObservationCANBusJ1939, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, and mrpt::opengl::COpenGLStandardObject.

◆ writeToStreamRender()

void mrpt::opengl::CRenderizable::writeToStreamRender ( utils::CStream out) const
protected

Friends And Related Function Documentation

◆ mrpt::opengl::COpenGLViewport

friend class mrpt::opengl::COpenGLViewport
friend

Definition at line 48 of file CRenderizable.h.

◆ mrpt::opengl::CSetOfObjects

friend class mrpt::opengl::CSetOfObjects
friend

Definition at line 49 of file CRenderizable.h.

◆ mrpt::utils::CStream

friend class mrpt::utils::CStream
friend

Definition at line 46 of file CRenderizable.h.

Member Data Documentation

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 124 of file CObject.h.

◆ classCRenderizable

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizable::classCRenderizable
static

Definition at line 46 of file CRenderizable.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

◆ m_color

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color
protected

Color components in the range [0,255].

Definition at line 54 of file CRenderizable.h.

◆ m_name

std::string mrpt::opengl::CRenderizable::m_name
protected

Definition at line 52 of file CRenderizable.h.

◆ m_pose

mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose
protected

6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.

Definition at line 55 of file CRenderizable.h.

Referenced by mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::render_dl().

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x
protected

Definition at line 56 of file CRenderizable.h.

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y
protected

Definition at line 56 of file CRenderizable.h.

◆ m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z
protected

Scale components to apply to the object (default=1)

Definition at line 56 of file CRenderizable.h.

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name
protected

Definition at line 53 of file CRenderizable.h.

◆ m_visible

bool mrpt::opengl::CRenderizable::m_visible
protected

Is the object visible? (default=true)

Definition at line 57 of file CRenderizable.h.




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