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_graph_tools_H 00029 #define opengl_graph_tools_H 00030 00031 #include <mrpt/opengl/CSetOfObjects.h> 00032 #include <mrpt/poses/CNetworkOfPoses.h> 00033 00034 namespace mrpt 00035 { 00036 namespace opengl 00037 { 00038 /** Tool functions for graphs of pose constraints. */ 00039 namespace graph_tools 00040 { 00041 /** @name Tool functions for graphs of pose constraints 00042 @{ */ 00043 00044 /** Returns an opengl objects representation of an arbitrary graph, as a network of 3D pose frames. 00045 * Note that the "global" coordinates of each node are taken from mrpt::poses::CNetworkOfPoses::nodes, so 00046 * if a node appears in "edges" but not in "nodes" it will be not displayed. 00047 * 00048 * \param g The graph 00049 * \param extra_params An extra set of optional parameters (see below). 00050 * List of accepted extra parameters (note that all are double values, booleans are emulated with 0 & !=0 values): 00051 * 00052 * <table align="center" > 00053 * <tr> <td align="center" ><b>Parameter name</b></td> <td align="center" > <b>Description</b> </td> <td align="center" ><b>Default value</b></td> </tr> 00054 * <tr> 00055 * <td align="center" ><code> show_ID_labels </code></td> 00056 * <td> If set to !=0, show poses ID labels </td> 00057 * <td align="center" > 0 (don't show) </td> 00058 * </tr> 00059 * <tr> 00060 * <td align="center" ><code> show_ground_grid </code></td> 00061 * <td> If set to !=0, create a gray grid on the ground level (mrpt::opengl::CGridPlaneXY). The extension of the grid is computed to cover the entire graph extension </td> 00062 * <td align="center" > 1 (do show) </td> 00063 * </tr> 00064 * <tr> 00065 * <td align="center" ><code> show_edges </code></td> 00066 * <td> If set to !=0, draw lines between nodes with at least one edge between them. </td> 00067 * <td align="center" > 1 (do show) </td> 00068 * </tr> 00069 * <tr> 00070 * <td align="center" ><code> edge_color </code></td> 00071 * <td> If show_edges is !=0, the color of those edges as a hexadecimal int value 0xAARRGGBB with Alpha+RGB color (Alpha=0xFF:opaque,0x00:transparent).</td> 00072 * <td align="center" > 0x400000FF </td> 00073 * </tr> 00074 * <tr> 00075 * <td align="center" ><code> edge_width </code></td> 00076 * <td> If show_edges is !=0, the width of edge lines.</td> 00077 * <td align="center" > 2.0 </td> 00078 * </tr> 00079 * <tr> 00080 * <td align="center" ><code> show_node_corners </code></td> 00081 * <td> If set to !=0, draw a small 3D corner frame at each node (see mrpt::opengl::stock_objects::CornerXYZSimple). </td> 00082 * <td align="center" > 1 (do show) </td> 00083 * </tr> 00084 * <tr> 00085 * <td align="center" ><code> nodes_corner_scale </code></td> 00086 * <td> If show_node_corners!=0, the size (length) of te corner lines. </td> 00087 * <td align="center" > 0.7 </td> 00088 * </tr> 00089 * <tr> 00090 * <td align="center" ><code> nodes_point_size </code></td> 00091 * <td> If set to !=0, draw a point of the given size (glPointSize) at each node.</td> 00092 * <td align="center" > 0 (no points) </td> 00093 * </tr> 00094 * <tr> 00095 * <td align="center" ><code> nodes_point_color </code></td> 00096 * <td> If nodes_point_size!=0, set this value to a hexadecimal int value 0xRRGGBB with the desired RGB color of points.</td> 00097 * <td align="center" > 0xA0A0A0 (light gray) </td> 00098 * </tr> 00099 * </table> 00100 * 00101 * \sa mrpt::poses::CNetworkOfPoses2D, mrpt::poses::CNetworkOfPoses3D, mrpt::poses::CNetworkOfPoses2DInf, mrpt::poses::CNetworkOfPoses3DInf 00102 */ 00103 template<class CPOSE,class MAPIMPL> 00104 CSetOfObjectsPtr OPENGL_IMPEXP graph_visualize( 00105 const mrpt::poses::CNetworkOfPoses<CPOSE,MAPIMPL> &g, 00106 const mrpt::utils::TParametersDouble &extra_params = mrpt::utils::TParametersDouble() 00107 ); 00108 00109 /** @} */ 00110 } 00111 } 00112 00113 } // End of namespace 00114 00115 00116 #endif
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