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stock_objects.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef opengl_StockObjects_H
00029 #define opengl_StockObjects_H
00030 
00031 #include <mrpt/opengl/CSetOfObjects.h>
00032 
00033 namespace mrpt
00034 {
00035         namespace opengl
00036         {
00037                 /** A collection of pre-built 3D objects for quick insertion in opengl::COpenGLScene objects.
00038                   */
00039                 namespace stock_objects
00040                 {
00041                         /** Returns a representation of a Pioneer II mobile base.
00042                           *  The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects.
00043                           *  <div align="center">
00044                           *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
00045                           *    <tr> <td> mrpt::opengl::stock_objects::RobotPioneer() </td> <td> \image html preview_stock_objects_RobotPioneer.png </td> </tr>
00046                           *  </table>
00047                           *  </div>
00048                           */
00049                         CSetOfObjectsPtr OPENGL_IMPEXP RobotPioneer();
00050 
00051                         /** Returns three arrows representing a X,Y,Z 3D corner.
00052                           *  The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects.
00053                           * \sa CornerXYZSimple, CornerXYSimple
00054                           *  <div align="center">
00055                           *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
00056                           *    <tr> <td> mrpt::opengl::stock_objects::CornerXYZ() </td> <td> \image html preview_stock_objects_CornerXYZ.png </td> </tr>
00057                           *  </table>
00058                           *  </div>
00059                           */
00060                         CSetOfObjectsPtr OPENGL_IMPEXP CornerXYZ(float scale=1.0);
00061 
00062                         /** Returns three arrows representing a X,Y,Z 3D corner (just thick lines instead of complex arrows for faster rendering than CornerXYZ).
00063                           *  The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects.
00064                           * \sa CornerXYZ, CornerXYSimple
00065                           *  <div align="center">
00066                           *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
00067                           *    <tr> <td> mrpt::opengl::stock_objects::CornerXYZSimple() </td> <td> \image html preview_stock_objects_CornerXYZSimple.png </td> </tr>
00068                           *  </table>
00069                           *  </div>
00070                           */
00071                         CSetOfObjectsPtr OPENGL_IMPEXP CornerXYZSimple(float scale=1.0, float lineWidth=1.0);
00072 
00073                         /** Returns two arrows representing a X,Y 2D corner (just thick lines, fast to render).
00074                           *  The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects.
00075                           * \sa CornerXYZSimple, CornerXYZ
00076                           *  <div align="center">
00077                           *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
00078                           *    <tr> <td> mrpt::opengl::stock_objects::CornerXYSimple() </td> <td> \image html preview_stock_objects_CornerXYSimple.png </td> </tr>
00079                           *  </table>
00080                           *  </div>
00081                           */
00082                         CSetOfObjectsPtr OPENGL_IMPEXP CornerXYSimple(float scale=1.0, float lineWidth=1.0);
00083 
00084                         /** Returns a high-quality 3D model of a SICK laser scanner (Model by Miguel Angel Espada Bernal)
00085                           */
00086                         CSetOfObjectsPtr OPENGL_IMPEXP SICKLaser();
00087 
00088                         /** Returns a simple 3D model of a PointGrey Bumblebee stereo camera.
00089                           *  The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects.
00090                           *  <div align="center">
00091                           *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
00092                           *    <tr> <td> mrpt::opengl::stock_objects::BumblebeeCamera() </td> <td> \image html preview_stock_objects_BumblebeeCamera.png </td> </tr>
00093                           *  </table>
00094                           *  </div>
00095                           */
00096                         CSetOfObjectsPtr OPENGL_IMPEXP BumblebeeCamera();
00097 
00098                 } // end namespace stock_objects
00099         }
00100 
00101 } // End of namespace
00102 
00103 
00104 #endif



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