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<div class="title">CSetOfObjects.h</div> </div>
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<a href="_c_set_of_objects_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_CSetOfObjects_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define opengl_CSetOfObjects_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_8h.html">mrpt/opengl/CRenderizable.h</a>></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="comment">// All these are needed for the auxiliary methods posePDF2opengl()</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_point_p_d_f_8h.html">mrpt/poses/CPointPDF.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_pose_p_d_f_8h.html">mrpt/poses/CPosePDF.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_p_d_f_8h.html">mrpt/poses/CPose3DPDF.h</a>></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_quat_p_d_f_8h.html">mrpt/poses/CPose3DQuatPDF.h</a>></span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="keyword">namespace </span>mrpt
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041 <span class="keyword">namespace </span>opengl
<a name="l00042"></a>00042 {
<a name="l00043"></a><a class="code" href="namespacemrpt_1_1opengl.html#a1e04013345790c52d31b81cb561147be">00043</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_set_of_objects.html" title="A set of object, which are referenced to the coordinates framework established in this object...">CSetOfObjects</a>;
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00046"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html#a9013f0aa0574e0511628e6d3b055b8b8">00046</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_set_of_objects.html" title="A set of object, which are referenced to the coordinates framework established in this object...">CSetOfObjects</a>, <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable.html" title="The base class of 3D objects that can be directly rendered through OpenGL.">CRenderizable</a>, <a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> )
<a name="l00047"></a>00047
<a name="l00048"></a>00048 <span class="comment">/** A set of object, which are referenced to the coordinates framework established in this object.</span>
<a name="l00049"></a>00049 <span class="comment"> * It can be established a hierarchy of "CSetOfObjects", where the coordinates framework of each</span>
<a name="l00050"></a>00050 <span class="comment"> * one will be referenced to the parent's one.</span>
<a name="l00051"></a>00051 <span class="comment"> * The list of child objects is accessed directly as in the class "COpenGLScene"</span>
<a name="l00052"></a>00052 <span class="comment"> * \sa opengl::COpenGLScene</span>
<a name="l00053"></a>00053 <span class="comment"> * \ingroup mrpt_opengl_grp</span>
<a name="l00054"></a>00054 <span class="comment"> */</span>
<a name="l00055"></a>00055 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_set_of_objects.html" title="A set of object, which are referenced to the coordinates framework established in this object...">CSetOfObjects</a> : public <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable.html" title="The base class of 3D objects that can be directly rendered through OpenGL.">CRenderizable</a>
<a name="l00056"></a>00056 {
<a name="l00057"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#afacc19128c3499881a61219cc61d0b38">00057</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_set_of_objects.html" title="A set of object, which are referenced to the coordinates framework established in this object...">CSetOfObjects</a> )
<a name="l00058"></a>00058
<a name="l00059"></a>00059 protected:<span class="comment"></span>
<a name="l00060"></a>00060 <span class="comment"> /** The list of child objects.</span>
<a name="l00061"></a>00061 <span class="comment"> * Objects are automatically deleted when calling "clear" or in the destructor.</span>
<a name="l00062"></a>00062 <span class="comment"> */</span>
<a name="l00063"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a7df8d4d9524f4213ade7965334aadbff">00063</a> <a class="code" href="classstd_1_1deque.html">CListOpenGLObjects</a> m_objects;
<a name="l00064"></a>00064
<a name="l00065"></a>00065 public:
<a name="l00066"></a>00066
<a name="l00067"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a8bf52bbf2e58078e7340d6b1e686d39c">00067</a> typedef <a class="code" href="classstd_1_1deque.html">CListOpenGLObjects</a>::<a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a8bf52bbf2e58078e7340d6b1e686d39c">const_iterator</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a8bf52bbf2e58078e7340d6b1e686d39c">const_iterator</a>;
<a name="l00068"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a1c4690d4f22619f26cf0a66b86795072">00068</a> typedef <a class="code" href="classstd_1_1deque.html">CListOpenGLObjects</a>::<a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a1c4690d4f22619f26cf0a66b86795072">iterator</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a1c4690d4f22619f26cf0a66b86795072">iterator</a>;
<a name="l00069"></a>00069
<a name="l00070"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a1decfe48df279bcaa557a5869e9201c0">00070</a> inline const_iterator <a class="code" href="eigen__plugins_8h.html#ab295fd8164bf1b1acecbcb29520d62b7">begin</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_objects.begin(); }
<a name="l00071"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a7bb55031e9b3267001674654d944adb4">00071</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a8bf52bbf2e58078e7340d6b1e686d39c">const_iterator</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a7bb55031e9b3267001674654d944adb4">end</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_objects.end(); }
<a name="l00072"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a103d292cdde083d87020b4cb4771e802">00072</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a1c4690d4f22619f26cf0a66b86795072">iterator</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a103d292cdde083d87020b4cb4771e802">begin</a>() { <span class="keywordflow">return</span> m_objects.begin(); }
<a name="l00073"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#aafa4a2beef275e59801512840f04a4b7">00073</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a1c4690d4f22619f26cf0a66b86795072">iterator</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#aafa4a2beef275e59801512840f04a4b7">end</a>() { <span class="keywordflow">return</span> m_objects.end(); }
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Inserts a set of objects into the list.</span>
<a name="l00076"></a>00076 <span class="comment"> */</span>
<a name="l00077"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a4bcc60b698f43574d67c3e3f73cd3b07">00077</a> <span class="keyword">template</span><<span class="keyword">class</span> T> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a4bcc60b698f43574d67c3e3f73cd3b07" title="Inserts a set of objects into the list.">insertCollection</a>(<span class="keyword">const</span> T &objs) {
<a name="l00078"></a>00078 insert(objs.begin(),objs.end());
<a name="l00079"></a>00079 }<span class="comment"></span>
<a name="l00080"></a>00080 <span class="comment"> /** Insert a new object to the list.</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a>00082 <span class="keywordtype">void</span> insert( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_renderizable_ptr.html">CRenderizablePtr</a> &newObject );
<a name="l00083"></a>00083 <span class="comment"></span>
<a name="l00084"></a>00084 <span class="comment"> /** Inserts a set of objects, bounded by iterators, into the list.</span>
<a name="l00085"></a>00085 <span class="comment"> */</span>
<a name="l00086"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a333b52783a160cb013482448db2bc49e">00086</a> <span class="keyword">template</span><<span class="keyword">class</span> T_it> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a333b52783a160cb013482448db2bc49e" title="Inserts a set of objects, bounded by iterators, into the list.">insert</a>(<span class="keyword">const</span> T_it &<a class="code" href="eigen__plugins_8h.html#ab295fd8164bf1b1acecbcb29520d62b7">begin</a>,<span class="keyword">const</span> T_it &<a class="code" href="eigen__plugins_8h.html#ade5b39864c905cbb824d0ff6eb0d888c">end</a>) {
<a name="l00087"></a>00087 <span class="keywordflow">for</span> (T_it it=begin;it!=<a class="code" href="eigen__plugins_8h.html#ade5b39864c905cbb824d0ff6eb0d888c">end</a>;it++) insert(*it);
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** Render child objects.</span>
<a name="l00091"></a>00091 <span class="comment"> */</span>
<a name="l00092"></a>00092 <span class="keywordtype">void</span> render() <span class="keyword">const</span>;
<a name="l00093"></a>00093 <span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment"> /** Clear the list of objects in the scene, deleting objects' memory.</span>
<a name="l00095"></a>00095 <span class="comment"> */</span>
<a name="l00096"></a>00096 <span class="keywordtype">void</span> clear();
<a name="l00097"></a>00097 <span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"> /** Returns number of objects. */</span>
<a name="l00099"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a485d1dcfb6b7dddebfedace1606156ee">00099</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a485d1dcfb6b7dddebfedace1606156ee" title="Returns number of objects.">size</a>() { <span class="keywordflow">return</span> m_objects.size(); }
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment"> /** Returns true if there are no objects. */</span>
<a name="l00102"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a09e04aac7ef4f816cdfbb281fb938192">00102</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a09e04aac7ef4f816cdfbb281fb938192" title="Returns true if there are no objects.">empty</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_objects.empty(); }
<a name="l00103"></a>00103 <span class="comment"></span>
<a name="l00104"></a>00104 <span class="comment"> /** Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL)</span>
<a name="l00105"></a>00105 <span class="comment"> */</span>
<a name="l00106"></a>00106 <span class="keywordtype">void</span> initializeAllTextures();
<a name="l00107"></a>00107 <span class="comment"></span>
<a name="l00108"></a>00108 <span class="comment"> /** Returns the first object with a given name, or a NULL pointer if not found.</span>
<a name="l00109"></a>00109 <span class="comment"> */</span>
<a name="l00110"></a>00110 <a class="code" href="structmrpt_1_1opengl_1_1_c_renderizable_ptr.html">CRenderizablePtr</a> getByName( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &str );
<a name="l00111"></a>00111 <span class="comment"></span>
<a name="l00112"></a>00112 <span class="comment"> /** Returns the i'th object of a given class (or of a descendant class), or NULL (an empty smart pointer) if not found.</span>
<a name="l00113"></a>00113 <span class="comment"> * Example:</span>
<a name="l00114"></a>00114 <span class="comment"> * \code</span>
<a name="l00115"></a>00115 <span class="comment"> CSpherePtr obs = myscene.getByClass<CSphere>();</span>
<a name="l00116"></a>00116 <span class="comment"> * \endcode</span>
<a name="l00117"></a>00117 <span class="comment"> * By default (ith=0), the first observation is returned.</span>
<a name="l00118"></a>00118 <span class="comment"> */</span>
<a name="l00119"></a>00119 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00120"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#ac904d56fd2350c5722934523b9bface8">00120</a> <span class="keyword">typename</span> T<a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">::SmartPtr</a> getByClass( <span class="keyword">const</span> <span class="keywordtype">size_t</span> &ith = 0 )<span class="keyword"> const</span>
<a name="l00121"></a>00121 <span class="keyword"> </span>{
<a name="l00122"></a>00122 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00123"></a>00123 <span class="keywordtype">size_t</span> foundCount = 0;
<a name="l00124"></a>00124 <span class="keyword">const</span> mrpt<a class="code" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html" title="A structure that holds runtime class type information.">::utils::TRuntimeClassId</a>* class_ID = T::classinfo;
<a name="l00125"></a>00125 <span class="keywordflow">for</span> (<a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">CListOpenGLObjects::const_iterator</a> it = m_objects.begin();it!=m_objects.end();++it)
<a name="l00126"></a>00126 <span class="keywordflow">if</span> ( (*it).present() && (*it)->GetRuntimeClass()->derivedFrom( class_ID ) )
<a name="l00127"></a>00127 <span class="keywordflow">if</span> (foundCount++ == ith)
<a name="l00128"></a>00128 <span class="keywordflow">return</span> <span class="keyword">typename</span> T::SmartPtr(*it);
<a name="l00129"></a>00129
<a name="l00130"></a>00130 <span class="comment">// If not found directly, search recursively:</span>
<a name="l00131"></a>00131 <span class="keywordflow">for</span> (<a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">CListOpenGLObjects::const_iterator</a> it=m_objects.begin();it!=m_objects.end();++it)
<a name="l00132"></a>00132 {
<a name="l00133"></a>00133 <span class="keywordflow">if</span> ( (*it).present() && (*it)->GetRuntimeClass() == <a class="code" href="_c_object_8h.html#a50425f043b81147fed5f71d2e26ca337" title="Access to runtime class ID for a defined class name.">CLASS_ID_NAMESPACE</a>(<a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html" title="A set of object, which are referenced to the coordinates framework established in this object...">CSetOfObjects</a>,mrpt::opengl))
<a name="l00134"></a>00134 {
<a name="l00135"></a>00135 <span class="keyword">typename</span> T<a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">::SmartPtr</a> o = <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">CSetOfObjectsPtr</a>(*it)->getByClass<T>(ith);
<a name="l00136"></a>00136 <span class="keywordflow">if</span> (o) <span class="keywordflow">return</span> o;
<a name="l00137"></a>00137 }
<a name="l00138"></a>00138 }
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="keywordflow">return</span> <span class="keyword">typename</span> T::SmartPtr(); <span class="comment">// Not found: return empty smart pointer</span>
<a name="l00141"></a>00141 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00142"></a>00142 }
<a name="l00143"></a>00143
<a name="l00144"></a>00144 <span class="comment"></span>
<a name="l00145"></a>00145 <span class="comment"> /** Removes the given object from the scene (it also deletes the object to free its memory).</span>
<a name="l00146"></a>00146 <span class="comment"> */</span>
<a name="l00147"></a>00147 <span class="keywordtype">void</span> removeObject( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_renderizable_ptr.html">CRenderizablePtr</a> &obj );
<a name="l00148"></a>00148 <span class="comment"></span>
<a name="l00149"></a>00149 <span class="comment"> /** Retrieves a list of all objects in text form.</span>
<a name="l00150"></a>00150 <span class="comment"> */</span>
<a name="l00151"></a>00151 <span class="keywordtype">void</span> dumpListOfObjects( <a class="code" href="classmrpt_1_1utils_1_1_c_string_list.html" title="A class for storing a list of text lines.">utils::CStringList</a> &lst );
<a name="l00152"></a>00152 <span class="comment"></span>
<a name="l00153"></a>00153 <span class="comment"> /** Ray tracing</span>
<a name="l00154"></a>00154 <span class="comment"> */</span>
<a name="l00155"></a>00155 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="group__geometry__grp.html#ga363e00600f9c000dd774e6c721faba7d" title="Fast ray tracing method using polygons' properties.">traceRay</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">mrpt::poses::CPose3D</a> &o,<span class="keywordtype">double</span> &dist) <span class="keyword">const</span>;
<a name="l00156"></a>00156
<a name="l00157"></a>00157 <span class="keyword">virtual</span> CRenderizable& setColor_u8(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">mrpt::utils::TColor</a> &c);
<a name="l00158"></a>00158 <span class="keyword">virtual</span> CRenderizable& setColorR_u8(<span class="keyword">const</span> uint8_t r);
<a name="l00159"></a>00159 <span class="keyword">virtual</span> CRenderizable& setColorG_u8(<span class="keyword">const</span> uint8_t g);
<a name="l00160"></a>00160 <span class="keyword">virtual</span> CRenderizable& setColorB_u8(<span class="keyword">const</span> uint8_t b);
<a name="l00161"></a>00161 <span class="keyword">virtual</span> CRenderizable& setColorA_u8(<span class="keyword">const</span> uint8_t a);
<a name="l00162"></a>00162
<a name="l00163"></a>00163 <span class="keywordtype">bool</span> contains(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_renderizable_ptr.html">CRenderizablePtr</a> &obj) <span class="keyword">const</span>;
<a name="l00164"></a>00164
<a name="l00165"></a>00165 <span class="comment"></span>
<a name="l00166"></a>00166 <span class="comment"> /** @name pose_pdf -> 3d objects auxiliary templates</span>
<a name="l00167"></a>00167 <span class="comment"> @{ */</span>
<a name="l00168"></a>00168 <span class="comment">// The reason this code is here is to exploit C++'s "T::template function()" in order to</span>
<a name="l00169"></a>00169 <span class="comment">// define the members getAs3DObject() in several classes in mrpt-base with its argument</span>
<a name="l00170"></a>00170 <span class="comment">// being a class (CSetOfObjects) which is actually declared here, in mrpt-opengl.</span>
<a name="l00171"></a>00171 <span class="comment">// Implementations are in "pose_pdfs.cpp", not in "CSetOfObjects" (historic reasons...)</span>
<a name="l00172"></a>00172 <span class="comment"></span>
<a name="l00173"></a>00173 <span class="comment"> /** Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call</span>
<a name="l00174"></a>00174 <span class="comment"> * mrpt::poses::CPosePDF::getAs3DObject */</span>
<a name="l00175"></a>00175 <span class="keyword">static</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">CSetOfObjectsPtr</a> <a class="code" href="namespacemrpt_1_1opengl.html#ada69d2b8f7e376cc386d8b7a0be29b34" title="Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call...">posePDF2opengl</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x...">mrpt::poses::CPosePDF</a> &o);
<a name="l00176"></a>00176 <span class="comment"></span>
<a name="l00177"></a>00177 <span class="comment"> /** Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call</span>
<a name="l00178"></a>00178 <span class="comment"> * mrpt::poses::CPointPDF::getAs3DObject */</span>
<a name="l00179"></a>00179 <span class="keyword">static</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">CSetOfObjectsPtr</a> <a class="code" href="namespacemrpt_1_1opengl.html#ada69d2b8f7e376cc386d8b7a0be29b34" title="Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call...">posePDF2opengl</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html" title="Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x...">mrpt::poses::CPointPDF</a> &o);
<a name="l00180"></a>00180 <span class="comment"></span>
<a name="l00181"></a>00181 <span class="comment"> /** Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call</span>
<a name="l00182"></a>00182 <span class="comment"> * mrpt::poses::CPose3DPDF::getAs3DObject */</span>
<a name="l00183"></a>00183 <span class="keyword">static</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">CSetOfObjectsPtr</a> <a class="code" href="namespacemrpt_1_1opengl.html#ada69d2b8f7e376cc386d8b7a0be29b34" title="Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call...">posePDF2opengl</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">mrpt::poses::CPose3DPDF</a> &o);
<a name="l00184"></a>00184 <span class="comment"></span>
<a name="l00185"></a>00185 <span class="comment"> /** Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call</span>
<a name="l00186"></a>00186 <span class="comment"> * mrpt::poses::CPose3DQuatPDF::getAs3DObject */</span>
<a name="l00187"></a>00187 <span class="keyword">static</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">CSetOfObjectsPtr</a> <a class="code" href="namespacemrpt_1_1opengl.html#ada69d2b8f7e376cc386d8b7a0be29b34" title="Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call...">posePDF2opengl</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">mrpt::poses::CPose3DQuatPDF</a> &o);
<a name="l00188"></a>00188 <span class="comment"></span>
<a name="l00189"></a>00189 <span class="comment"> /** @} */</span>
<a name="l00190"></a>00190
<a name="l00191"></a>00191 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00192"></a>00192 <span class="comment"> /** Default constructor</span>
<a name="l00193"></a>00193 <span class="comment"> */</span>
<a name="l00194"></a>00194 <a class="code" href="namespacemrpt_1_1opengl.html#a1e04013345790c52d31b81cb561147be">CSetOfObjects</a>( );
<a name="l00195"></a>00195 <span class="comment"></span>
<a name="l00196"></a>00196 <span class="comment"> /** Private, virtual destructor: only can be deleted from smart pointers */</span>
<a name="l00197"></a>00197 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html" title="A set of object, which are referenced to the coordinates framework established in this object...">CSetOfObjects</a>();
<a name="l00198"></a>00198 };<span class="comment"></span>
<a name="l00199"></a>00199 <span class="comment"> /** Inserts an object into the list. Allows call chaining.</span>
<a name="l00200"></a>00200 <span class="comment"> * \sa mrpt::opengl::CSetOfObjects::insert</span>
<a name="l00201"></a>00201 <span class="comment"> */</span>
<a name="l00202"></a><a class="code" href="namespacemrpt_1_1opengl.html#a51ac86e6ea6d01e77270e8eeebb1d0f4">00202</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">CSetOfObjectsPtr</a> &<a class="code" href="namespacemrpt_1_1opengl.html#a12e49154ca3af8dcb06d847404a0d4ea" title="Inserts an openGL object into a scene.">operator<<</a>(<a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">CSetOfObjectsPtr</a> &s,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_renderizable_ptr.html">CRenderizablePtr</a> &r) {
<a name="l00203"></a>00203 s->insert(r);
<a name="l00204"></a>00204 <span class="keywordflow">return</span> s;
<a name="l00205"></a>00205 }<span class="comment"></span>
<a name="l00206"></a>00206 <span class="comment"> /** Inserts a set of objects into the list. Allows call chaining.</span>
<a name="l00207"></a>00207 <span class="comment"> * \sa mrpt::opengl::CSetOfObjects::insert</span>
<a name="l00208"></a>00208 <span class="comment"> */</span>
<a name="l00209"></a><a class="code" href="namespacemrpt_1_1opengl.html#a11552af58b63d07ddcee7956653ccc37">00209</a> <span class="keyword">template</span><<span class="keyword">class</span> T> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">CSetOfObjectsPtr</a> &operator<<(CSetOfObjectsPtr &o,const std::vector<T> &v) {
<a name="l00210"></a>00210 o->insertCollection(v);
<a name="l00211"></a>00211 <span class="keywordflow">return</span> o;
<a name="l00212"></a>00212 }
<a name="l00213"></a>00213
<a name="l00214"></a>00214
<a name="l00215"></a>00215 } <span class="comment">// end namespace</span>
<a name="l00216"></a>00216
<a name="l00217"></a>00217 } <span class="comment">// End of namespace</span>
<a name="l00218"></a>00218
<a name="l00219"></a>00219
<a name="l00220"></a>00220 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
