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<div class="title">CDisk.h</div> </div>
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<a href="_c_disk_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_CDisk_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define opengl_CDisk_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 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_8h.html">mrpt/poses/CPose3D.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="geometry_8h.html">mrpt/math/geometry.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">namespace </span>opengl
<a name="l00038"></a>00038 {
<a name="l00039"></a><a class="code" href="namespacemrpt_1_1opengl.html#a9823f4eee104a9a34286dc867a1504ed">00039</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_disk.html" title="A planar disk in the XY plane.">CDisk</a>;
<a name="l00040"></a>00040
<a name="l00041"></a>00041 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00042"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_disk_ptr.html#ad9f9a7e212932a2d8629fd4868940a2e">00042</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_disk.html" title="A planar disk in the XY plane.">CDisk</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="l00043"></a>00043
<a name="l00044"></a>00044 <span class="comment">/** A planar disk in the XY plane.</span>
<a name="l00045"></a>00045 <span class="comment"> * \sa opengl::COpenGLScene</span>
<a name="l00046"></a>00046 <span class="comment"> * </span>
<a name="l00047"></a>00047 <span class="comment"> * <div align="center"></span>
<a name="l00048"></a>00048 <span class="comment"> * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;"></span>
<a name="l00049"></a>00049 <span class="comment"> * <tr> <td> mrpt::opengl::CDisk </td> <td> \image html preview_CDisk.png </td> </tr></span>
<a name="l00050"></a>00050 <span class="comment"> * </table></span>
<a name="l00051"></a>00051 <span class="comment"> * </div></span>
<a name="l00052"></a>00052 <span class="comment"> * </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_disk.html" title="A planar disk in the XY plane.">CDisk</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="l00056"></a>00056 {
<a name="l00057"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#aa25e61dcc70b20b6b00590afe18230e0">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_disk.html" title="A planar disk in the XY plane.">CDisk</a> )
<a name="l00058"></a>00058
<a name="l00059"></a>00059 protected:
<a name="l00060"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#a3c0c05ee14962ce006a94975c396feb4">00060</a> <span class="keywordtype">float</span> m_radiusIn,m_radiusOut;
<a name="l00061"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#a37b100eda50ea6254c287fc06f9cf4a3">00061</a> uint32_t m_nSlices, m_nLoops;
<a name="l00062"></a>00062
<a name="l00063"></a>00063 public:
<a name="l00064"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#a3f174b12291f2c2e5ab44d5c433f182f">00064</a> <span class="keywordtype">void</span> setDiskRadius(<span class="keywordtype">float</span> outRadius, <span class="keywordtype">float</span> inRadius=0) { m_radiusIn=inRadius; m_radiusOut=outRadius; <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="l00065"></a>00065
<a name="l00066"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#a58fa206a57f58599ce3c7f20bd3d60c0">00066</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#a58fa206a57f58599ce3c7f20bd3d60c0">getInRadius</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_radiusIn; }
<a name="l00067"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#aa97aaeaef7e5754d6093b4558e33261c">00067</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#aa97aaeaef7e5754d6093b4558e33261c">getOutRadius</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_radiusOut; }
<a name="l00068"></a>00068
<a name="l00069"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#a8cb92faa2996201b143b734c62267754">00069</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#a8cb92faa2996201b143b734c62267754" title="Default=50.">setSlicesCount</a>(uint32_t N) { m_nSlices=N; <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>(); } <span class="comment">//!< Default=50</span>
<a name="l00070"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#aaab0e0cdbeb849db26eee8cc0067cdb4">00070</a> <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#aaab0e0cdbeb849db26eee8cc0067cdb4" title="Default=4.">setLoopsCount</a>(uint32_t N) { m_nLoops=N; <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>(); } <span class="comment">//!< Default=4</span>
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** Render</span>
<a name="l00074"></a>00074 <span class="comment"> */</span>
<a name="l00075"></a>00075 <span class="keywordtype">void</span> render_dl() <span class="keyword">const</span>;
<a name="l00076"></a>00076 <span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment"> /** Ray tracing</span>
<a name="l00078"></a>00078 <span class="comment"> */</span>
<a name="l00079"></a>00079 <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="l00080"></a>00080
<a name="l00081"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#a22168c64a54074b64db6fa5f0f014cfc">00081</a> <span class="keyword">static</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_disk_ptr.html">CDiskPtr</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#a22168c64a54074b64db6fa5f0f014cfc">Create</a>(<span class="keywordtype">float</span> radiusOut,<span class="keywordtype">float</span> radiusIn,uint32_t slices=50,uint32_t loops=4) {
<a name="l00082"></a>00082 <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_disk_ptr.html">CDiskPtr</a>(<span class="keyword">new</span> <a class="code" href="namespacemrpt_1_1opengl.html#a9823f4eee104a9a34286dc867a1504ed">CDisk</a>(radiusOut,radiusIn,slices,loops));
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /** Constructor</span>
<a name="l00087"></a>00087 <span class="comment"> */</span>
<a name="l00088"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#a55e21814bbc455647f198a362ff156e1">00088</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#a55e21814bbc455647f198a362ff156e1" title="Constructor.">CDisk</a>():m_radiusIn(0),m_radiusOut(1),m_nSlices(50),m_nLoops(4) {}
<a name="l00089"></a>00089
<a name="l00090"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#a11bb31bcb397ea1b1f29ffbc05e4e9db">00090</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#a11bb31bcb397ea1b1f29ffbc05e4e9db">CDisk</a>(<span class="keywordtype">float</span> rOut,<span class="keywordtype">float</span> rIn,uint32_t slices,uint32_t loops):m_radiusIn(rIn),m_radiusOut(rOut),m_nSlices(slices),m_nLoops(loops) {}
<a name="l00091"></a>00091 <span class="comment"></span>
<a name="l00092"></a>00092 <span class="comment"> /** Private, virtual destructor: only can be deleted from smart pointers */</span>
<a name="l00093"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#a8543f29aa6fbd703cd2b37fc2b741082">00093</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_disk.html#a8543f29aa6fbd703cd2b37fc2b741082" title="Private, virtual destructor: only can be deleted from smart pointers.">~CDisk</a>() { }
<a name="l00094"></a>00094 };
<a name="l00095"></a>00095
<a name="l00096"></a>00096 } <span class="comment">// end namespace</span>
<a name="l00097"></a>00097
<a name="l00098"></a>00098 } <span class="comment">// End of namespace</span>
<a name="l00099"></a>00099
<a name="l00100"></a>00100
<a name="l00101"></a>00101 <span class="preprocessor">#endif</span>
</pre></div></div>
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