A set of object, which are referenced to the coordinates framework established in this object.
It can be established a hierarchy of "CSetOfObjects", where the coordinates framework of each one will be referenced to the parent's one. The list of child objects is accessed directly as in the class "COpenGLScene"
Definition at line 32 of file CSetOfObjects.h.
#include <mrpt/opengl/CSetOfObjects.h>
Public Types | |
typedef CListOpenGLObjects::const_iterator | const_iterator |
typedef CListOpenGLObjects::iterator | iterator |
Public Member Functions | |
const_iterator | begin () const |
const_iterator | end () const |
iterator | begin () |
iterator | end () |
template<class T > | |
void | insertCollection (const T &objs) |
Inserts a set of objects into the list. More... | |
void | insert (const CRenderizablePtr &newObject) |
Insert a new object to the list. More... | |
template<class T_it > | |
void | insert (const T_it &begin, const T_it &end) |
Inserts a set of objects, bounded by iterators, into the list. More... | |
void | render () const MRPT_OVERRIDE |
Render child objects. More... | |
void | clear () |
Clear the list of objects in the scene, deleting objects' memory. More... | |
size_t | size () |
Returns number of objects. More... | |
bool | empty () const |
Returns true if there are no objects. More... | |
void | initializeAllTextures () |
Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL) More... | |
CRenderizablePtr | getByName (const std::string &str) |
Returns the first object with a given name, or a NULL pointer if not found. More... | |
template<typename T > | |
T::SmartPtr | getByClass (const size_t &ith=0) const |
Returns the i'th object of a given class (or of a descendant class), or NULL (an empty smart pointer) if not found. More... | |
void | removeObject (const CRenderizablePtr &obj) |
Removes the given object from the scene (it also deletes the object to free its memory). More... | |
void | dumpListOfObjects (mrpt::utils::CStringList &lst) |
Retrieves a list of all objects in text form More... | |
virtual bool | traceRay (const mrpt::poses::CPose3D &o, double &dist) const MRPT_OVERRIDE |
Simulation of ray-trace, given a pose. More... | |
virtual CRenderizable & | setColor_u8 (const mrpt::utils::TColor &c) MRPT_OVERRIDE |
virtual CRenderizable & | setColorR_u8 (const uint8_t r) MRPT_OVERRIDE |
Color components in the range [0,255]. More... | |
virtual CRenderizable & | setColorG_u8 (const uint8_t g) MRPT_OVERRIDE |
Color components in the range [0,255]. More... | |
virtual CRenderizable & | setColorB_u8 (const uint8_t b) MRPT_OVERRIDE |
Color components in the range [0,255]. More... | |
virtual CRenderizable & | setColorA_u8 (const uint8_t a) MRPT_OVERRIDE |
Color components in the range [0,255]. More... | |
bool | contains (const CRenderizablePtr &obj) const |
virtual void | getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE |
Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More... | |
CRenderizable * | clone () const |
Interface for the stlplus smart pointer class. More... | |
Changes the appearance of the object to render | |
void | setName (const std::string &n) |
Changes the name of the object. More... | |
const std::string & | getName () const |
Returns the name of the object. More... | |
bool | isVisible () const |
Is the object visible? More... | |
void | setVisibility (bool visible=true) |
Set object visibility (default=true) More... | |
void | enableShowName (bool showName=true) |
Enables or disables showing the name of the object as a label when rendering. More... | |
bool | isShowNameEnabled () const |
CRenderizable & | setPose (const mrpt::poses::CPose3D &o) |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More... | |
CRenderizable & | setPose (const mrpt::math::TPose3D &o) |
Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More... | |
CRenderizable & | setPose (const mrpt::poses::CPoint3D &o) |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More... | |
CRenderizable & | setPose (const mrpt::poses::CPoint2D &o) |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More... | |
mrpt::math::TPose3D | getPose () const |
Returns the 3D pose of the object as TPose3D. More... | |
const mrpt::poses::CPose3D & | getPoseRef () const |
Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More... | |
CRenderizable & | setLocation (double x, double y, double z) |
Changes the location of the object, keeping untouched the orientation. More... | |
CRenderizable & | setLocation (const mrpt::math::TPoint3D &p) |
Changes the location of the object, keeping untouched the orientation. More... | |
double | getPoseX () const |
Translation relative to parent coordinate origin. More... | |
double | getPoseY () const |
Translation relative to parent coordinate origin. More... | |
double | getPoseZ () const |
Translation relative to parent coordinate origin. More... | |
double | getPoseYaw () const |
Rotation relative to parent coordinate origin, in DEGREES. More... | |
double | getPosePitch () const |
Rotation relative to parent coordinate origin, in DEGREES. More... | |
double | getPoseRoll () const |
Rotation relative to parent coordinate origin, in DEGREES. More... | |
double | getPoseYawRad () const |
Rotation relative to parent coordinate origin, in radians. More... | |
double | getPosePitchRad () const |
Rotation relative to parent coordinate origin, in radians. More... | |
double | getPoseRollRad () const |
Rotation relative to parent coordinate origin, in radians. More... | |
double | getColorR () const |
Color components in the range [0,1]. More... | |
double | getColorG () const |
Color components in the range [0,1]. More... | |
double | getColorB () const |
Color components in the range [0,1]. More... | |
double | getColorA () const |
Color components in the range [0,1]. More... | |
uint8_t | getColorR_u8 () const |
Color components in the range [0,255]. More... | |
uint8_t | getColorG_u8 () const |
Color components in the range [0,255]. More... | |
uint8_t | getColorB_u8 () const |
Color components in the range [0,255]. More... | |
uint8_t | getColorA_u8 () const |
Color components in the range [0,255]. More... | |
CRenderizable & | setColorR (const double r) |
Color components in the range [0,1]. More... | |
CRenderizable & | setColorG (const double g) |
Color components in the range [0,1]. More... | |
CRenderizable & | setColorB (const double b) |
Color components in the range [0,1]. More... | |
CRenderizable & | setColorA (const double a) |
Color components in the range [0,1]. More... | |
CRenderizable & | setScale (float s) |
Scale to apply to the object, in all three axes (default=1) More... | |
CRenderizable & | setScale (float sx, float sy, float sz) |
Scale to apply to the object in each axis (default=1) More... | |
float | getScaleX () const |
Get the current scaling factor in one axis. More... | |
float | getScaleY () const |
Get the current scaling factor in one axis. More... | |
float | getScaleZ () const |
Get the current scaling factor in one axis. More... | |
mrpt::utils::TColorf | getColor () const |
Returns the object color property as a TColorf. More... | |
CRenderizable & | setColor (const mrpt::utils::TColorf &c) |
CRenderizable & | setColor (double R, double G, double B, double A=1) |
Set the color components of this object (R,G,B,Alpha, in the range 0-1) More... | |
const mrpt::utils::TColor & | getColor_u8 () const |
Returns the object color property as a TColor. More... | |
CRenderizable & | setColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255) |
Set the color components of this object (R,G,B,Alpha, in the range 0-1) 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 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 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... | |
pose_pdf -> 3d objects auxiliary templates | |
static CSetOfObjectsPtr | posePDF2opengl (const mrpt::poses::CPosePDF &o) |
Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPosePDF::getAs3DObject More... | |
static CSetOfObjectsPtr | posePDF2opengl (const mrpt::poses::CPointPDF &o) |
Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPointPDF::getAs3DObject More... | |
static CSetOfObjectsPtr | posePDF2opengl (const mrpt::poses::CPose3DPDF &o) |
Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPose3DPDF::getAs3DObject More... | |
static CSetOfObjectsPtr | posePDF2opengl (const mrpt::poses::CPose3DQuatPDF &o) |
Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPose3DQuatPDF::getAs3DObject More... | |
Static Public Attributes | |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCRenderizable |
Protected Member Functions | |
void | writeToStreamRender (utils::CStream &out) const |
void | readFromStreamRender (utils::CStream &in) |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
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 | |
CListOpenGLObjects | m_objects |
The list of child objects. More... | |
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... | |
Private Member Functions | |
CSetOfObjects () | |
Default constructor. More... | |
virtual | ~CSetOfObjects () |
Private, virtual destructor: only can be deleted from smart pointers. More... | |
RTTI stuff <br> | |
typedef CSetOfObjectsPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CSetOfObjects |
static mrpt::utils::TRuntimeClassId | classCSetOfObjects |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static CSetOfObjectsPtr | Create () |
typedef CListOpenGLObjects::const_iterator mrpt::opengl::CSetOfObjects::const_iterator |
Definition at line 44 of file CSetOfObjects.h.
typedef CListOpenGLObjects::iterator mrpt::opengl::CSetOfObjects::iterator |
Definition at line 45 of file CSetOfObjects.h.
A typedef for the associated smart pointer
Definition at line 34 of file CSetOfObjects.h.
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private |
Default constructor.
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privatevirtual |
Private, virtual destructor: only can be deleted from smart pointers.
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staticprotected |
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inline |
Definition at line 49 of file CSetOfObjects.h.
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inline |
Definition at line 47 of file CSetOfObjects.h.
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staticprotectedinherited |
Checks glGetError and throws an exception if an error situation is found.
void mrpt::opengl::CSetOfObjects::clear | ( | ) |
Clear the list of objects in the scene, deleting objects' memory.
Referenced by mrpt::opengl::COctreePointRenderer< Derived >::octree_get_graphics_boundingboxes().
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inlineinherited |
Interface for the stlplus smart pointer class.
Definition at line 148 of file CRenderizable.h.
bool mrpt::opengl::CSetOfObjects::contains | ( | const CRenderizablePtr & | obj | ) | const |
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static |
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static |
void mrpt::opengl::CSetOfObjects::dumpListOfObjects | ( | mrpt::utils::CStringList & | lst | ) |
Retrieves a list of all objects in text form
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virtual |
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inline |
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inlineinherited |
Enables or disables showing the name of the object as a label when rendering.
Definition at line 69 of file CRenderizable.h.
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inline |
Definition at line 50 of file CSetOfObjects.h.
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inline |
Definition at line 48 of file CSetOfObjects.h.
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virtual |
Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent.
Implements mrpt::opengl::CRenderizable.
T::SmartPtr mrpt::opengl::CSetOfObjects::getByClass | ( | const size_t & | ith = 0 | ) | const |
Returns the i'th object of a given class (or of a descendant class), or NULL (an empty smart pointer) if not found.
Example:
By default (ith=0), the first observation is returned.
Definition at line 167 of file CSetOfObjects.h.
References CLASS_ID_NAMESPACE, mrpt::opengl::CSetOfObjectsPtr, m_objects, MRPT_END, and MRPT_START.
CRenderizablePtr mrpt::opengl::CSetOfObjects::getByName | ( | const std::string & | str | ) |
Returns the first object with a given name, or a NULL pointer if not found.
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inlineinherited |
Returns the object color property as a TColorf.
Definition at line 124 of file CRenderizable.h.
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inlineinherited |
Returns the object color property as a TColor.
Definition at line 133 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,1].
Definition at line 100 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,255].
Definition at line 105 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,1].
Definition at line 99 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,255].
Definition at line 104 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,1].
Definition at line 98 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,255].
Definition at line 103 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,1].
Definition at line 97 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,255].
Definition at line 102 of file CRenderizable.h.
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inlineinherited |
Returns the name of the object.
Definition at line 64 of file CRenderizable.h.
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staticprotectedinherited |
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).
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inherited |
Returns the 3D pose of the object as TPose3D.
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inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 91 of file CRenderizable.h.
References mrpt::utils::RAD2DEG().
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inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 94 of file CRenderizable.h.
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inlineinherited |
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.
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inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 92 of file CRenderizable.h.
References mrpt::utils::RAD2DEG().
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inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 95 of file CRenderizable.h.
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inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 87 of file CRenderizable.h.
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inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 88 of file CRenderizable.h.
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inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 90 of file CRenderizable.h.
References mrpt::utils::RAD2DEG().
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inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 93 of file CRenderizable.h.
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inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 89 of file CRenderizable.h.
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virtual |
Reimplemented from mrpt::opengl::CRenderizable.
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inlineinherited |
Get the current scaling factor in one axis.
Definition at line 119 of file CRenderizable.h.
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inlineinherited |
Get the current scaling factor in one axis.
Definition at line 120 of file CRenderizable.h.
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inlineinherited |
Get the current scaling factor in one axis.
Definition at line 121 of file CRenderizable.h.
void mrpt::opengl::CSetOfObjects::initializeAllTextures | ( | ) |
Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL)
void mrpt::opengl::CSetOfObjects::insert | ( | const CRenderizablePtr & | newObject | ) |
Insert a new object to the list.
Referenced by mrpt::opengl::COctreePointRenderer< Derived >::octree_get_graphics_boundingboxes().
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inline |
Inserts a set of objects, bounded by iterators, into the list.
Definition at line 63 of file CSetOfObjects.h.
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inline |
Inserts a set of objects into the list.
Definition at line 54 of file CSetOfObjects.h.
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inlineinherited |
Definition at line 70 of file CRenderizable.h.
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inlineinherited |
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static |
Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPointPDF::getAs3DObject
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static |
Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPose3DPDF::getAs3DObject
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static |
Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPose3DQuatPDF::getAs3DObject
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static |
Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPosePDF::getAs3DObject
Referenced by mrpt::opengl::posePDF2opengl().
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protected |
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protectedinherited |
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staticprotectedinherited |
void mrpt::opengl::CSetOfObjects::removeObject | ( | const CRenderizablePtr & | obj | ) |
Removes the given object from the scene (it also deletes the object to free its memory).
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virtual |
Render child objects.
Implements mrpt::opengl::CRenderizable.
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staticinherited |
This method is safe for calling from within render() methods.
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staticinherited |
Render a text message in the current rendering context, creating a glViewport in the way (do not call within render() methods)
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inlineinherited |
c | Changes the default object color |
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.
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inlineinherited |
Set the color components of this object (R,G,B,Alpha, in the range 0-1)
Definition at line 131 of file CRenderizable.h.
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virtual |
Reimplemented from mrpt::opengl::CRenderizable.
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inlineinherited |
Set the color components of this object (R,G,B,Alpha, in the range 0-1)
Definition at line 138 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColor_u8().
Referenced by mrpt::opengl::CRenderizable::setColor_u8().
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inlineinherited |
Color components in the range [0,1].
Definition at line 110 of file CRenderizable.h.
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virtual |
Color components in the range [0,255].
Reimplemented from mrpt::opengl::CRenderizable.
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inlineinherited |
Color components in the range [0,1].
Definition at line 109 of file CRenderizable.h.
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virtual |
Color components in the range [0,255].
Reimplemented from mrpt::opengl::CRenderizable.
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inlineinherited |
Color components in the range [0,1].
Definition at line 108 of file CRenderizable.h.
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virtual |
Color components in the range [0,255].
Reimplemented from mrpt::opengl::CRenderizable.
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inlineinherited |
Color components in the range [0,1].
Definition at line 107 of file CRenderizable.h.
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virtual |
Color components in the range [0,255].
Reimplemented from mrpt::opengl::CRenderizable.
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inlineinherited |
Changes the location of the object, keeping untouched the orientation.
Definition at line 85 of file CRenderizable.h.
References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
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inlineinherited |
Changes the location of the object, keeping untouched the orientation.
Definition at line 82 of file CRenderizable.h.
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inlineinherited |
Changes the name of the object.
Definition at line 63 of file CRenderizable.h.
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inherited |
Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
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inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
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inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
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inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
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inlineinherited |
Scale to apply to the object, in all three axes (default=1)
Definition at line 117 of file CRenderizable.h.
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inlineinherited |
Scale to apply to the object in each axis (default=1)
Definition at line 118 of file CRenderizable.h.
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inlineinherited |
Set object visibility (default=true)
Definition at line 67 of file CRenderizable.h.
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inline |
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staticinherited |
Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
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virtual |
Simulation of ray-trace, given a pose.
Returns true if the ray effectively collisions with the object (returning the distance to the origin of the ray in "dist"), or false in other case. "dist" variable yields undefined behaviour when false is returned
Reimplemented from mrpt::opengl::CRenderizable.
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protected |
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protectedinherited |
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staticprotected |
Definition at line 34 of file CSetOfObjects.h.
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staticinherited |
Definition at line 46 of file CRenderizable.h.
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static |
Definition at line 34 of file CSetOfObjects.h.
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static |
Definition at line 34 of file CSetOfObjects.h.
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protectedinherited |
Color components in the range [0,255].
Definition at line 54 of file CRenderizable.h.
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protectedinherited |
Definition at line 52 of file CRenderizable.h.
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protected |
The list of child objects.
Objects are automatically deleted when calling "clear" or in the destructor.
Definition at line 40 of file CSetOfObjects.h.
Referenced by getByClass().
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protectedinherited |
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< DIM >::render_dl().
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protectedinherited |
Definition at line 56 of file CRenderizable.h.
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protectedinherited |
Definition at line 56 of file CRenderizable.h.
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protectedinherited |
Scale components to apply to the object (default=1)
Definition at line 56 of file CRenderizable.h.
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protectedinherited |
Definition at line 53 of file CRenderizable.h.
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protectedinherited |
Is the object visible? (default=true)
Definition at line 57 of file CRenderizable.h.
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