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<div class="title">graph_tools.h</div> </div>
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<a href="graph__tools_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_graph_tools_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define opengl_graph_tools_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_set_of_objects_8h.html">mrpt/opengl/CSetOfObjects.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_t_parameters_8h.html">mrpt/utils/TParameters.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="keyword">namespace </span>mrpt
<a name="l00035"></a>00035 {<span class="comment"></span>
<a name="l00036"></a>00036 <span class="comment"> /** \ingroup mrpt_opengl_grp */</span>
<a name="l00037"></a>00037 <span class="keyword">namespace </span>opengl
<a name="l00038"></a>00038 {<span class="comment"></span>
<a name="l00039"></a>00039 <span class="comment"> /** Tool functions for graphs of pose constraints. \ingroup mrpt_opengl_grp */</span>
<a name="l00040"></a><a class="code" href="namespacemrpt_1_1opengl_1_1graph__tools.html">00040</a> <span class="keyword">namespace </span>graph_tools
<a name="l00041"></a>00041 {<span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"> /** @name Tool functions for graphs of pose constraints</span>
<a name="l00043"></a>00043 <span class="comment"> @{ */</span>
<a name="l00044"></a>00044 <span class="comment"></span>
<a name="l00045"></a>00045 <span class="comment"> /** Returns an opengl objects representation of an arbitrary graph, as a network of 3D pose frames.</span>
<a name="l00046"></a>00046 <span class="comment"> * Note that the "global" coordinates of each node are taken from mrpt::graphs::CNetworkOfPoses::nodes, so</span>
<a name="l00047"></a>00047 <span class="comment"> * if a node appears in "edges" but not in "nodes" it will be not displayed.</span>
<a name="l00048"></a>00048 <span class="comment"> *</span>
<a name="l00049"></a>00049 <span class="comment"> * \param g The graph</span>
<a name="l00050"></a>00050 <span class="comment"> * \param extra_params An extra set of optional parameters (see below).</span>
<a name="l00051"></a>00051 <span class="comment"> * List of accepted extra parameters (note that all are double values, booleans are emulated with 0 & !=0 values):</span>
<a name="l00052"></a>00052 <span class="comment"> *</span>
<a name="l00053"></a>00053 <span class="comment"> * <table align="center" ></span>
<a name="l00054"></a>00054 <span class="comment"> * <tr> <td align="center" ><b>Parameter name</b></td> <td align="center" > <b>Description</b> </td> <td align="center" ><b>Default value</b></td> </tr></span>
<a name="l00055"></a>00055 <span class="comment"> * <tr></span>
<a name="l00056"></a>00056 <span class="comment"> * <td align="center" ><code> show_ID_labels </code></td></span>
<a name="l00057"></a>00057 <span class="comment"> * <td> If set to !=0, show poses ID labels </td></span>
<a name="l00058"></a>00058 <span class="comment"> * <td align="center" > 0 (don't show) </td></span>
<a name="l00059"></a>00059 <span class="comment"> * </tr></span>
<a name="l00060"></a>00060 <span class="comment"> * <tr></span>
<a name="l00061"></a>00061 <span class="comment"> * <td align="center" ><code> show_ground_grid </code></td></span>
<a name="l00062"></a>00062 <span class="comment"> * <td> If set to !=0, create a gray grid on the ground level (mrpt::opengl::CGridPlaneXY). The extension of the grid is computed to cover the entire graph extension </td></span>
<a name="l00063"></a>00063 <span class="comment"> * <td align="center" > 1 (do show) </td></span>
<a name="l00064"></a>00064 <span class="comment"> * </tr></span>
<a name="l00065"></a>00065 <span class="comment"> * <tr></span>
<a name="l00066"></a>00066 <span class="comment"> * <td align="center" ><code> show_edges </code></td></span>
<a name="l00067"></a>00067 <span class="comment"> * <td> If set to !=0, draw lines between nodes with at least one edge between them. </td></span>
<a name="l00068"></a>00068 <span class="comment"> * <td align="center" > 1 (do show) </td></span>
<a name="l00069"></a>00069 <span class="comment"> * </tr></span>
<a name="l00070"></a>00070 <span class="comment"> * <tr></span>
<a name="l00071"></a>00071 <span class="comment"> * <td align="center" ><code> edge_color </code></td></span>
<a name="l00072"></a>00072 <span class="comment"> * <td> If show_edges is !=0, the color of those edges as a hexadecimal int value 0xAARRGGBB with Alpha+RGB color (Alpha=0xFF:opaque,0x00:transparent).</td></span>
<a name="l00073"></a>00073 <span class="comment"> * <td align="center" > 0x400000FF </td></span>
<a name="l00074"></a>00074 <span class="comment"> * </tr></span>
<a name="l00075"></a>00075 <span class="comment"> * <tr></span>
<a name="l00076"></a>00076 <span class="comment"> * <td align="center" ><code> edge_width </code></td></span>
<a name="l00077"></a>00077 <span class="comment"> * <td> If show_edges is !=0, the width of edge lines.</td></span>
<a name="l00078"></a>00078 <span class="comment"> * <td align="center" > 2.0 </td></span>
<a name="l00079"></a>00079 <span class="comment"> * </tr></span>
<a name="l00080"></a>00080 <span class="comment"> * <tr></span>
<a name="l00081"></a>00081 <span class="comment"> * <td align="center" ><code> show_node_corners </code></td></span>
<a name="l00082"></a>00082 <span class="comment"> * <td> If set to !=0, draw a small 3D corner frame at each node (see mrpt::opengl::stock_objects::CornerXYZSimple). </td></span>
<a name="l00083"></a>00083 <span class="comment"> * <td align="center" > 1 (do show) </td></span>
<a name="l00084"></a>00084 <span class="comment"> * </tr></span>
<a name="l00085"></a>00085 <span class="comment"> * <tr></span>
<a name="l00086"></a>00086 <span class="comment"> * <td align="center" ><code> nodes_corner_scale </code></td></span>
<a name="l00087"></a>00087 <span class="comment"> * <td> If show_node_corners!=0, the size (length) of te corner lines. </td></span>
<a name="l00088"></a>00088 <span class="comment"> * <td align="center" > 0.7 </td></span>
<a name="l00089"></a>00089 <span class="comment"> * </tr></span>
<a name="l00090"></a>00090 <span class="comment"> * <tr></span>
<a name="l00091"></a>00091 <span class="comment"> * <td align="center" ><code> nodes_point_size </code></td></span>
<a name="l00092"></a>00092 <span class="comment"> * <td> If set to !=0, draw a point of the given size (glPointSize) at each node.</td></span>
<a name="l00093"></a>00093 <span class="comment"> * <td align="center" > 0 (no points) </td></span>
<a name="l00094"></a>00094 <span class="comment"> * </tr></span>
<a name="l00095"></a>00095 <span class="comment"> * <tr></span>
<a name="l00096"></a>00096 <span class="comment"> * <td align="center" ><code> nodes_point_color </code></td></span>
<a name="l00097"></a>00097 <span class="comment"> * <td> If nodes_point_size!=0, set this value to a hexadecimal int value 0xRRGGBB with the desired RGB color of points.</td></span>
<a name="l00098"></a>00098 <span class="comment"> * <td align="center" > 0xA0A0A0 (light gray) </td></span>
<a name="l00099"></a>00099 <span class="comment"> * </tr></span>
<a name="l00100"></a>00100 <span class="comment"> * </table></span>
<a name="l00101"></a>00101 <span class="comment"> *</span>
<a name="l00102"></a>00102 <span class="comment"> * \sa mrpt::graphs::CNetworkOfPoses2D, mrpt::graphs::CNetworkOfPoses3D, mrpt::graphs::CNetworkOfPoses2DInf, mrpt::graphs::CNetworkOfPoses3DInf</span>
<a name="l00103"></a>00103 <span class="comment"> * \note Implemented as headers-only in \a graph_tools_impl.h</span>
<a name="l00104"></a>00104 <span class="comment"> * \ingroup mrpt_opengl_grp</span>
<a name="l00105"></a>00105 <span class="comment"> */</span>
<a name="l00106"></a>00106 <span class="keyword">template</span><<span class="keyword">class</span> GRAPH_T>
<a name="l00107"></a>00107 <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">CSetOfObjectsPtr</a> <a class="code" href="group__mrpt__opengl__grp.html#ga30efc9f6fcb49801e989d174e0f65a61" title="Returns an opengl objects representation of an arbitrary graph, as a network of 3D pose frames...">graph_visualize</a>(
<a name="l00108"></a>00108 <span class="keyword">const</span> GRAPH_T &g,
<a name="l00109"></a>00109 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html" title="For usage when passing a dynamic number of (numeric) arguments to a function, by name.">mrpt::utils::TParametersDouble</a> &extra_params = <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html" title="For usage when passing a dynamic number of (numeric) arguments to a function, by name.">mrpt::utils::TParametersDouble</a>()
<a name="l00110"></a>00110 );
<a name="l00111"></a>00111 <span class="comment"></span>
<a name="l00112"></a>00112 <span class="comment"> /** @} */</span>
<a name="l00113"></a>00113 }
<a name="l00114"></a>00114 }
<a name="l00115"></a>00115
<a name="l00116"></a>00116 } <span class="comment">// End of namespace</span>
<a name="l00117"></a>00117
<a name="l00118"></a>00118 <span class="preprocessor">#include "<a class="code" href="graph__tools__impl_8h.html">graph_tools_impl.h</a>"</span>
<a name="l00119"></a>00119
<a name="l00120"></a>00120 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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