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<div class="title">CArrow.h</div> </div>
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<a href="_c_arrow_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef opengl_CArrow_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define opengl_CArrow_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_renderizable_display_list_8h.html">mrpt/opengl/CRenderizableDisplayList.h</a>></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="keyword">namespace </span>mrpt
<a name="l00034"></a>00034 {
<a name="l00035"></a>00035 <span class="keyword">namespace </span>opengl
<a name="l00036"></a>00036 {
<a name="l00037"></a><a class="code" href="namespacemrpt_1_1opengl.html#af04247c0f422d396182a61d68369385d">00037</a> <span class="keyword">class </span><a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html" title="A 3D arrow.">CArrow</a>;
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00040"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_arrow_ptr.html#a2820672e6149d51842a2a8d5a7336e8f">00040</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html" title="A 3D arrow.">CArrow</a>, <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html" title="A renderizable object suitable for rendering with OpenGL's display lists.">CRenderizableDisplayList</a>, <a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> )
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="comment">/** A 3D arrow</span>
<a name="l00043"></a>00043 <span class="comment"> * \sa opengl::COpenGLScene</span>
<a name="l00044"></a>00044 <span class="comment"> * </span>
<a name="l00045"></a>00045 <span class="comment"> * <div align="center"></span>
<a name="l00046"></a>00046 <span class="comment"> * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;"></span>
<a name="l00047"></a>00047 <span class="comment"> * <tr> <td> mrpt::opengl::CArrow </td> <td> \image html preview_CArrow.png </td> </tr></span>
<a name="l00048"></a>00048 <span class="comment"> * </table></span>
<a name="l00049"></a>00049 <span class="comment"> * </div></span>
<a name="l00050"></a>00050 <span class="comment"> * \ingroup mrpt_opengl_grp</span>
<a name="l00051"></a>00051 <span class="comment"> * </span>
<a name="l00052"></a>00052 <span class="comment"> */</span>
<a name="l00053"></a>00053 class <a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html" title="A 3D arrow.">CArrow</a> : public <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html" title="A renderizable object suitable for rendering with OpenGL's display lists.">CRenderizableDisplayList</a>
<a name="l00054"></a>00054 {
<a name="l00055"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#adab58776f948093a703f57e4ef3edfe6">00055</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html" title="A 3D arrow.">CArrow</a> )
<a name="l00056"></a>00056 protected:
<a name="l00057"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#a22f6c627dbd639bef8d933865b44d2e3">00057</a> mutable <span class="keywordtype">float</span> m_x0,m_y0,m_z0;
<a name="l00058"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#a9ce583c0153a803534a3b145647ed9b3">00058</a> mutable <span class="keywordtype">float</span> m_x1,m_y1,m_z1;
<a name="l00059"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#a8cd0cffca8f959f12289d51dc6175591">00059</a> <span class="keywordtype">float</span> m_headRatio;
<a name="l00060"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#ac2b81640997603012f7d69094d006853">00060</a> <span class="keywordtype">float</span> m_smallRadius, m_largeRadius;
<a name="l00061"></a>00061 <span class="comment">//For version 2 in stream</span>
<a name="l00062"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#a419c676c3cf353b03cee102056770d4a">00062</a> <span class="keywordtype">float</span> m_arrow_roll;
<a name="l00063"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#a64b5217696b5d9b62d810cbac7d2dfba">00063</a> <span class="keywordtype">float</span> m_arrow_pitch;
<a name="l00064"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#ad6482034ada10d33c02eb39f3c3628dc">00064</a> <span class="keywordtype">float</span> m_arrow_yaw;
<a name="l00065"></a>00065
<a name="l00066"></a>00066 public:
<a name="l00067"></a>00067
<a name="l00068"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#ae2a5de98612d6fd91070afa4230c8a6a">00068</a> <span class="keywordtype">void</span> setArrowEnds(<span class="keywordtype">float</span> x0,<span class="keywordtype">float</span> y0, <span class="keywordtype">float</span> z0, <span class="keywordtype">float</span> x1,<span class="keywordtype">float</span> y1, <span class="keywordtype">float</span> z1)
<a name="l00069"></a>00069 {
<a name="l00070"></a>00070 m_x0=x0; m_y0 = y0; m_z0=z0;
<a name="l00071"></a>00071 m_x1=x1; m_y1 = y1; m_z1=z1;
<a name="l00072"></a>00072 <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a77f8b97d7f4937b3f0777b76bc0ddf7a" title="Must be called to notify that the object has changed (so, the display list must be updated)...">CRenderizableDisplayList::notifyChange</a>();
<a name="l00073"></a>00073 }
<a name="l00074"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#afaf7b5159691be735a7c18806f13fe9f">00074</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#afaf7b5159691be735a7c18806f13fe9f">setHeadRatio</a>(<span class="keywordtype">float</span> rat) { m_headRatio=rat; <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a77f8b97d7f4937b3f0777b76bc0ddf7a" title="Must be called to notify that the object has changed (so, the display list must be updated)...">CRenderizableDisplayList::notifyChange</a>(); }
<a name="l00075"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#ac19f102e869f3ff42488ba1f80bc9a4b">00075</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#ac19f102e869f3ff42488ba1f80bc9a4b">setSmallRadius</a>(<span class="keywordtype">float</span> rat) { m_smallRadius=rat; <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a77f8b97d7f4937b3f0777b76bc0ddf7a" title="Must be called to notify that the object has changed (so, the display list must be updated)...">CRenderizableDisplayList::notifyChange</a>(); }
<a name="l00076"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#ac1b68cc0de07fed4229f641f4dbf2338">00076</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#ac1b68cc0de07fed4229f641f4dbf2338">setLargeRadius</a>(<span class="keywordtype">float</span> rat) { m_largeRadius=rat; <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a77f8b97d7f4937b3f0777b76bc0ddf7a" title="Must be called to notify that the object has changed (so, the display list must be updated)...">CRenderizableDisplayList::notifyChange</a>(); }
<a name="l00077"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#aa205d4258f0eb9c295c90bf5926bef2c">00077</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#aa205d4258f0eb9c295c90bf5926bef2c">setArrowYawPitchRoll</a>(<span class="keywordtype">float</span> yaw,<span class="keywordtype">float</span> pitch, <span class="keywordtype">float</span> roll ) { m_arrow_yaw=yaw; m_arrow_pitch=pitch; m_arrow_roll=roll; <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a77f8b97d7f4937b3f0777b76bc0ddf7a" title="Must be called to notify that the object has changed (so, the display list must be updated)...">CRenderizableDisplayList::notifyChange</a>(); }
<a name="l00078"></a>00078 <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Render</span>
<a name="l00080"></a>00080 <span class="comment"> */</span>
<a name="l00081"></a>00081 <span class="keywordtype">void</span> render_dl() <span class="keyword">const</span>;
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Class factory */</span>
<a name="l00084"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#acb7a620146db1a8b78c4936804699451">00084</a> <span class="keyword">static</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_arrow_ptr.html">CArrowPtr</a> Create(
<a name="l00085"></a>00085 <span class="keywordtype">float</span> x0,
<a name="l00086"></a>00086 <span class="keywordtype">float</span> y0,
<a name="l00087"></a>00087 <span class="keywordtype">float</span> z0,
<a name="l00088"></a>00088 <span class="keywordtype">float</span> x1,
<a name="l00089"></a>00089 <span class="keywordtype">float</span> y1,
<a name="l00090"></a>00090 <span class="keywordtype">float</span> z1,
<a name="l00091"></a>00091 <span class="keywordtype">float</span> headRatio = 0.2f,
<a name="l00092"></a>00092 <span class="keywordtype">float</span> smallRadius = 0.05f,
<a name="l00093"></a>00093 <span class="keywordtype">float</span> largeRadius = 0.2f,
<a name="l00094"></a>00094 <span class="keywordtype">float</span> arrow_roll = -1.0f,
<a name="l00095"></a>00095 <span class="keywordtype">float</span> arrow_pitch = -1.0f,
<a name="l00096"></a>00096 <span class="keywordtype">float</span> arrow_yaw = -1.0f
<a name="l00097"></a>00097 )
<a name="l00098"></a>00098 {
<a name="l00099"></a>00099 <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_arrow_ptr.html">CArrowPtr</a>(<span class="keyword">new</span> <a class="code" href="namespacemrpt_1_1opengl.html#af04247c0f422d396182a61d68369385d">CArrow</a>(x0,y0,z0, x1,y1,z1, headRatio, smallRadius, largeRadius, arrow_roll, arrow_pitch, arrow_yaw ));
<a name="l00100"></a>00100 }
<a name="l00101"></a>00101
<a name="l00102"></a>00102 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment"> /** Constructor</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#aaaa49c51b24247ad51ad9e2c4996722f">00105</a> <a class="code" href="namespacemrpt_1_1opengl.html#af04247c0f422d396182a61d68369385d">CArrow</a>(
<a name="l00106"></a>00106 <span class="keywordtype">float</span> x0 = 0,
<a name="l00107"></a>00107 <span class="keywordtype">float</span> y0 = 0,
<a name="l00108"></a>00108 <span class="keywordtype">float</span> z0 = 0,
<a name="l00109"></a>00109 <span class="keywordtype">float</span> x1 = 1,
<a name="l00110"></a>00110 <span class="keywordtype">float</span> y1 = 1,
<a name="l00111"></a>00111 <span class="keywordtype">float</span> z1 = 1,
<a name="l00112"></a>00112 <span class="keywordtype">float</span> headRatio = 0.2f,
<a name="l00113"></a>00113 <span class="keywordtype">float</span> smallRadius = 0.05f,
<a name="l00114"></a>00114 <span class="keywordtype">float</span> largeRadius = 0.2f,
<a name="l00115"></a>00115 <span class="keywordtype">float</span> arrow_roll = -1.0f,
<a name="l00116"></a>00116 <span class="keywordtype">float</span> arrow_pitch = -1.0f,
<a name="l00117"></a>00117 <span class="keywordtype">float</span> arrow_yaw = -1.0f
<a name="l00118"></a>00118 ) :
<a name="l00119"></a>00119 m_x0(x0),m_y0(y0),m_z0(z0),
<a name="l00120"></a>00120 m_x1(x1),m_y1(y1),m_z1(z1),
<a name="l00121"></a>00121 m_headRatio(headRatio),
<a name="l00122"></a>00122 m_smallRadius(smallRadius),
<a name="l00123"></a>00123 m_largeRadius(largeRadius),
<a name="l00124"></a>00124 m_arrow_roll(arrow_roll),
<a name="l00125"></a>00125 m_arrow_pitch(arrow_pitch),
<a name="l00126"></a>00126 m_arrow_yaw(arrow_yaw)
<a name="l00127"></a>00127 {
<a name="l00128"></a>00128 }
<a name="l00129"></a>00129 <span class="comment"></span>
<a name="l00130"></a>00130 <span class="comment"> /** Private, virtual destructor: only can be deleted from smart pointers */</span>
<a name="l00131"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#a25a6275e27bb8023607ace1be913c54c">00131</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_arrow.html#a25a6275e27bb8023607ace1be913c54c" title="Private, virtual destructor: only can be deleted from smart pointers.">~CArrow</a>() { }
<a name="l00132"></a>00132 };
<a name="l00133"></a>00133
<a name="l00134"></a>00134
<a name="l00135"></a>00135 } <span class="comment">// end namespace</span>
<a name="l00136"></a>00136 } <span class="comment">// End of namespace</span>
<a name="l00137"></a>00137
<a name="l00138"></a>00138 <span class="preprocessor">#endif</span>
</pre></div></div>
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