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<div class="title">CTexturedPlane.h</div> </div>
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<a href="_c_textured_plane_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_CTexturedPlane_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define opengl_CTexturedPlane_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_textured_object_8h.html">mrpt/opengl/CTexturedObject.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#a1b929c9c8f110e93eee57e3eae50786b">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_textured_plane.html" title="A 2D plane in the XY plane with a texture image.">CTexturedPlane</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_textured_plane_ptr.html#ace03432c9e242838d48ebb2b72fe3111">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_textured_plane.html" title="A 2D plane in the XY plane with a texture image.">CTexturedPlane</a>, <a class="code" href="classmrpt_1_1opengl_1_1_c_textured_object.html" title="A base class for all OpenGL objects with loadable textures.">CTexturedObject</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 2D plane in the XY plane with a texture image.</span>
<a name="l00043"></a>00043 <span class="comment"> * \sa opengl::COpenGLScene</span>
<a name="l00044"></a>00044 <span class="comment"> * \ingroup mrpt_opengl_grp</span>
<a name="l00045"></a>00045 <span class="comment"> */</span>
<a name="l00046"></a>00046 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_textured_plane.html" title="A 2D plane in the XY plane with a texture image.">CTexturedPlane</a> : public <a class="code" href="classmrpt_1_1opengl_1_1_c_textured_object.html" title="A base class for all OpenGL objects with loadable textures.">CTexturedObject</a>
<a name="l00047"></a>00047 {
<a name="l00048"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_textured_plane.html#acdd488ae23545e0bf3b7a3bc7b89a057">00048</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_textured_plane.html" title="A 2D plane in the XY plane with a texture image.">CTexturedPlane</a> )
<a name="l00049"></a>00049 protected:
<a name="l00050"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_textured_plane.html#adad785b125972ddd9df78b310c47cf55">00050</a> mutable <span class="keywordtype">float</span> m_tex_x_min,m_tex_x_max;
<a name="l00051"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_textured_plane.html#a6f25b1e5d28ea6dfcadbee558a63b8e3">00051</a> mutable <span class="keywordtype">float</span> m_tex_y_min,m_tex_y_max;
<a name="l00052"></a>00052
<a name="l00053"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_textured_plane.html#a49815355cddc19c333748d8b1a501329">00053</a> <span class="keywordtype">float</span> m_xMin, m_xMax;
<a name="l00054"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_textured_plane.html#a4824ec22271a82864bc9da6340c08110">00054</a> <span class="keywordtype">float</span> m_yMin, m_yMax;
<a name="l00055"></a>00055
<a name="l00056"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_textured_plane.html#a3520c1bc2071aaeac2e4930ee348f00c">00056</a> mutable <span class="keywordtype">bool</span> polygonUpToDate;
<a name="l00057"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_textured_plane.html#a2f0fb555c2c0135ab06a26358494f6c1">00057</a> mutable std::<a class="code" href="classstd_1_1vector.html" title="STL class.">vector</a><mrpt::math::<a class="code" href="classmrpt_1_1math_1_1_t_polygon_with_plane.html" title="Slightly heavyweight type to speed-up calculations with polygons in 3D.">TPolygonWithPlane</a>> tmpPoly; <span class="comment">//!< Used for ray-tracing</span>
<a name="l00058"></a>00058 <span class="comment"></span> <span class="keywordtype">void</span> updatePoly() const;
<a name="l00059"></a>00059 <span class="keywordtype">void</span> unloadTexture();
<a name="l00060"></a>00060
<a name="l00061"></a>00061 <span class="keywordtype">void</span> render_texturedobj() const;
<a name="l00062"></a>00062
<a name="l00063"></a>00063 public:<span class="comment"></span>
<a name="l00064"></a>00064 <span class="comment"> /** Set the texture coordinates of the four corners (in the range 0-1). */</span>
<a name="l00065"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_textured_plane.html#a6b6dfdba6e7f64165eb313a77de45da7">00065</a> <span class="keywordtype">void</span> setTextureCornerCoords( <span class="keywordtype">float</span> tex_x_min, <span class="keywordtype">float</span> tex_x_max, <span class="keywordtype">float</span> tex_y_min, <span class="keywordtype">float</span> tex_y_max)
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 m_tex_x_min=tex_x_min;
<a name="l00068"></a>00068 m_tex_x_max=tex_x_max;
<a name="l00069"></a>00069 m_tex_y_min=tex_y_min;
<a name="l00070"></a>00070 m_tex_y_max=tex_y_max;
<a name="l00071"></a>00071 <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="l00072"></a>00072 }
<a name="l00073"></a>00073 <span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment"> /** Set the coordinates of the four corners that define the plane on the XY plane. */</span>
<a name="l00075"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_textured_plane.html#abdd07971f8aa833db3a4127d369c80ba">00075</a> <span class="keywordtype">void</span> setPlaneCorners(<span class="keywordtype">float</span> xMin, <span class="keywordtype">float</span> xMax, <span class="keywordtype">float</span> yMin, <span class="keywordtype">float</span> yMax)
<a name="l00076"></a>00076 {
<a name="l00077"></a>00077 m_xMin = xMin; m_xMax = xMax;
<a name="l00078"></a>00078 m_yMin = yMin; m_yMax = yMax;
<a name="l00079"></a>00079 polygonUpToDate=<span class="keyword">false</span>;
<a name="l00080"></a>00080 <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="l00081"></a>00081 }
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Get the coordinates of the four corners that define the plane on the XY plane. */</span>
<a name="l00084"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_textured_plane.html#a126005c89ea074b93a26e9b77a3813c5">00084</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> getPlaneCorners(<span class="keywordtype">float</span> &xMin, <span class="keywordtype">float</span> &xMax, <span class="keywordtype">float</span> &yMin, <span class="keywordtype">float</span> &yMax)<span class="keyword"> const</span>
<a name="l00085"></a>00085 <span class="keyword"> </span>{
<a name="l00086"></a>00086 xMin = m_xMin; xMax = m_xMax;
<a name="l00087"></a>00087 yMin = m_yMin; yMax = m_yMax;
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** Class factory */</span>
<a name="l00091"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_textured_plane.html#a05fd4de9a2a527fc00398b873cb07b85">00091</a> <span class="keyword">static</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_textured_plane_ptr.html">CTexturedPlanePtr</a> Create(
<a name="l00092"></a>00092 <span class="keywordtype">float</span> x_min,
<a name="l00093"></a>00093 <span class="keywordtype">float</span> x_max,
<a name="l00094"></a>00094 <span class="keywordtype">float</span> y_min,
<a name="l00095"></a>00095 <span class="keywordtype">float</span> y_max)
<a name="l00096"></a>00096 {
<a name="l00097"></a>00097 <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_textured_plane_ptr.html">CTexturedPlanePtr</a>( <span class="keyword">new</span> <a class="code" href="namespacemrpt_1_1opengl.html#a1b929c9c8f110e93eee57e3eae50786b">CTexturedPlane</a>(x_min, x_max, y_min, y_max) );
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099 <span class="comment"></span>
<a name="l00100"></a>00100 <span class="comment"> /** Ray trace</span>
<a name="l00101"></a>00101 <span class="comment"> */</span>
<a name="l00102"></a>00102 <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="l00103"></a>00103
<a name="l00104"></a>00104 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00105"></a>00105 <span class="comment"> /** Constructor</span>
<a name="l00106"></a>00106 <span class="comment"> */</span>
<a name="l00107"></a>00107 <a class="code" href="namespacemrpt_1_1opengl.html#a1b929c9c8f110e93eee57e3eae50786b">CTexturedPlane</a>(
<a name="l00108"></a>00108 <span class="keywordtype">float</span> x_min = -1,
<a name="l00109"></a>00109 <span class="keywordtype">float</span> x_max = 1,
<a name="l00110"></a>00110 <span class="keywordtype">float</span> y_min = -1,
<a name="l00111"></a>00111 <span class="keywordtype">float</span> y_max = 1
<a name="l00112"></a>00112 );
<a name="l00113"></a>00113 <span class="comment"></span>
<a name="l00114"></a>00114 <span class="comment"> /** Private, virtual destructor: only can be deleted from smart pointers */</span>
<a name="l00115"></a>00115 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1opengl_1_1_c_textured_plane.html" title="A 2D plane in the XY plane with a texture image.">CTexturedPlane</a>();
<a name="l00116"></a>00116 };
<a name="l00117"></a>00117
<a name="l00118"></a>00118 } <span class="comment">// end namespace</span>
<a name="l00119"></a>00119
<a name="l00120"></a>00120 } <span class="comment">// End of namespace</span>
<a name="l00121"></a>00121
<a name="l00122"></a>00122
<a name="l00123"></a>00123 <span class="preprocessor">#endif</span>
</pre></div></div>
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