mrpt::opengl::CMesh Class Reference

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Detailed Description

A planar (XY) grid where each cell has an associated height and, optionally, a texture map.

A typical usage example would be an elevation map or a 3D model of a terrain.

See also:

opengl::COpenGLScene

mrpt::opengl::CMesh

Definition at line 58 of file CMesh.h.

#include <mrpt/opengl/CMesh.h>

Inheritance diagram for mrpt::opengl::CMesh:

List of all members.

Public Member Functions
void	setGridLimits (float xmin, float xmax, float ymin, float ymax)
void	getGridLimits (float &xmin, float &xmax, float &ymin, float &ymax) const
void	enableTransparency (bool v)
void	enableWireFrame (bool v)
void	enableColorFromZ (bool v, mrpt::utils::TColormap colorMap=mrpt::utils::cmJET)
void	setZ (const mrpt::math::CMatrixTemplateNumeric< float > &in_Z)
	This method sets the matrix of heights for each position (cell) in the mesh grid.
void	getZ (mrpt::math::CMatrixFloat &out) const
	Returns a reference to the internal Z matrix, allowing changing it efficiently.
void	getMask (mrpt::math::CMatrixFloat &out) const
	Returns a reference to the internal mask matrix, allowing changing it efficiently.
void	setMask (const mrpt::math::CMatrixTemplateNumeric< float > &in_mask)
	This method sets the boolean mask of valid heights for each position (cell) in the mesh grid.
void	setUV (const mrpt::math::CMatrixTemplateNumeric< float > &in_U, const mrpt::math::CMatrixTemplateNumeric< float > &in_V)
	Sets the (u,v) texture coordinates (in range [0,1]) for each cell.
float	getXMin () const
float	getXMax () const
float	getYMin () const
float	getYMax () const
void	setXMin (const float &nxm)
void	setXMax (const float &nxm)
void	setYMin (const float &nym)
void	setYMax (const float &nym)
void	getXBounds (float &min, float &max) const
void	getYBounds (float &min, float &max) const
void	setXBounds (const float &min, const float &max)
void	setYBounds (const float &min, const float &max)
void	render_dl () const
	Render.
void	assignImage (const utils::CImage &img)
	Assigns a texture image, and disable transparency.
virtual bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const
	Trace ray.
Static Public Member Functions
static CMeshPtr	Create (bool enableTransparency, float xMin=0.0f, float xMax=0.0f, float yMin=0.0f, float yMax=0.0f)
	Class factory.
Protected Member Functions
void	updateColorsMatrix () const
	Called internally to assure C is updated.
void	updateTriangles () const
	Called internally to assure the triangle list is updated.
void	updatePolygons () const
Protected Attributes
mrpt::utils::CImage	m_textureImage
bool	m_enableTransparency
bool	m_colorFromZ
bool	m_isWireFrame
math::CMatrix	Z
	Z(x,y): Z-coordinate of the point (x,y)
math::CMatrix	mask
math::CMatrix	U
math::CMatrix	V
	Texture coordinates.
math::CMatrix	C
	Color [0,1] for each cell, updated by updateColorsMatrix.
mrpt::utils::TColormap	m_colorMap
	Used when m_colorFromZ is true.
bool	m_modified_Z
	Whether C is not up-to-date wrt to Z.
float	xMin
float	xMax
float	yMin
float	yMax
	Mesh bounds.
std::vector < CSetOfTriangles::TTriangle >	actualMesh
	List of triangles in the mesh.
bool	trianglesUpToDate
	Whether the actual mesh needs to be recalculated.
bool	polygonsUpToDate
std::vector < mrpt::math::TPolygonWithPlane >	tmpPolys
Private Member Functions
	CMesh (bool enableTransparency=false, float xMin=0.0f, float xMax=0.0f, float yMin=0.0f, float yMax=0.0f)
	Constructor.
virtual	~CMesh ()
	Private, virtual destructor: only can be deleted from smart pointers.
RTTI stuff
typedef CMeshPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CMesh
static mrpt::utils::TRuntimeClassId	classCMesh
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CMeshPtr	Create ()

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Member Typedef Documentation

typedef CMeshPtr mrpt::opengl::CMesh::SmartPtr

A typedef for the associated smart pointer

Definition at line 60 of file CMesh.h.

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Constructor & Destructor Documentation

mrpt::opengl::CMesh::CMesh	(	bool	enableTransparency = false,
		float	xMin = 0.0f,
		float	xMax = 0.0f,
		float	yMin = 0.0f,
		float	yMax = 0.0f
	)		[inline, private]

Constructor.

Definition at line 190 of file CMesh.h.

virtual mrpt::opengl::CMesh::~CMesh

(

)

[inline, private, virtual]

Private, virtual destructor: only can be deleted from smart pointers.

Definition at line 207 of file CMesh.h.

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Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CMesh::_GetBaseClass

(

)

[static, protected]

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

void mrpt::opengl::CMesh::assignImage

(

const utils::CImage &

img )

Assigns a texture image, and disable transparency.

static CMeshPtr mrpt::opengl::CMesh::Create

(

)

[static]

static CMeshPtr mrpt::opengl::CMesh::Create	(	bool	enableTransparency,
		float	xMin = 0.0f,
		float	xMax = 0.0f,
		float	yMin = 0.0f,
		float	yMax = 0.0f
	)		[inline, static]

Class factory.

Definition at line 170 of file CMesh.h.

References mrpt::opengl::CMesh.

static mrpt::utils::CObject* mrpt::opengl::CMesh::CreateObject

(

)

[static]

virtual mrpt::utils::CObject* mrpt::opengl::CMesh::duplicate

(

)

const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

void mrpt::opengl::CMesh::enableColorFromZ	(	bool	v,
		mrpt::utils::TColormap	colorMap = mrpt::utils::cmJET
	)		[inline]

Definition at line 103 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CMesh::enableTransparency

(

bool

v )

[inline]

Definition at line 101 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CMesh::enableWireFrame

(

bool

v )

[inline]

Definition at line 102 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CMesh::getGridLimits	(	float &	xmin,
		float &	xmax,
		float &	ymin,
		float &	ymax
	)		const [inline]

Definition at line 95 of file CMesh.h.

void mrpt::opengl::CMesh::getMask

(

mrpt::math::CMatrixFloat &

out )

const [inline]

Returns a reference to the internal mask matrix, allowing changing it efficiently.

Definition at line 119 of file CMesh.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::opengl::CMesh::GetRuntimeClass

(

)

const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

void mrpt::opengl::CMesh::getXBounds	(	float &	min,
		float &	max
	)		const [inline]

Definition at line 149 of file CMesh.h.

float mrpt::opengl::CMesh::getXMax

(

)

const [inline]

Definition at line 130 of file CMesh.h.

float mrpt::opengl::CMesh::getXMin

(

)

const [inline]

Definition at line 129 of file CMesh.h.

void mrpt::opengl::CMesh::getYBounds	(	float &	min,
		float &	max
	)		const [inline]

Definition at line 153 of file CMesh.h.

float mrpt::opengl::CMesh::getYMax

(

)

const [inline]

Definition at line 132 of file CMesh.h.

float mrpt::opengl::CMesh::getYMin

(

)

const [inline]

Definition at line 131 of file CMesh.h.

void mrpt::opengl::CMesh::getZ

(

mrpt::math::CMatrixFloat &

out )

const [inline]

Returns a reference to the internal Z matrix, allowing changing it efficiently.

Definition at line 114 of file CMesh.h.

void mrpt::opengl::CMesh::render_dl

(

)

const [virtual]

Render.

Implements mrpt::opengl::CRenderizableDisplayList.

void mrpt::opengl::CMesh::setGridLimits	(	float	xmin,
		float	xmax,
		float	ymin,
		float	ymax
	)		[inline]

Definition at line 88 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CMesh::setMask

(

const mrpt::math::CMatrixTemplateNumeric< float > &

in_mask )

This method sets the boolean mask of valid heights for each position (cell) in the mesh grid.

void mrpt::opengl::CMesh::setUV	(	const mrpt::math::CMatrixTemplateNumeric< float > &	in_U,
		const mrpt::math::CMatrixTemplateNumeric< float > &	in_V
	)

Sets the (u,v) texture coordinates (in range [0,1]) for each cell.

void mrpt::opengl::CMesh::setXBounds	(	const float &	min,
		const float &	max
	)		[inline]

Definition at line 157 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CMesh::setXMax

(

const float &

nxm )

[inline]

Definition at line 137 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CMesh::setXMin

(

const float &

nxm )

[inline]

Definition at line 133 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CMesh::setYBounds	(	const float &	min,
		const float &	max
	)		[inline]

Definition at line 162 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CMesh::setYMax

(

const float &

nym )

[inline]

Definition at line 145 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CMesh::setYMin

(

const float &

nym )

[inline]

Definition at line 141 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CMesh::setZ

(

const mrpt::math::CMatrixTemplateNumeric< float > &

in_Z )

This method sets the matrix of heights for each position (cell) in the mesh grid.

virtual bool mrpt::opengl::CMesh::traceRay	(	const mrpt::poses::CPose3D &	o,
		double &	dist
	)		const [virtual]

Trace ray.

Reimplemented from mrpt::opengl::CRenderizable.

void mrpt::opengl::CMesh::updateColorsMatrix

(

)

const [protected]

Called internally to assure C is updated.

void mrpt::opengl::CMesh::updatePolygons

(

)

const [protected]

void mrpt::opengl::CMesh::updateTriangles

(

)

const [protected]

Called internally to assure the triangle list is updated.

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Member Data Documentation

mrpt::utils::CLASSINIT mrpt::opengl::CMesh::_init_CMesh [static, protected]

Definition at line 60 of file CMesh.h.

std::vector<CSetOfTriangles::TTriangle> mrpt::opengl::CMesh::actualMesh [mutable, protected]

List of triangles in the mesh.

Definition at line 82 of file CMesh.h.

math::CMatrix mrpt::opengl::CMesh::C [mutable, protected]

Color [0,1] for each cell, updated by updateColorsMatrix.

Definition at line 71 of file CMesh.h.

mrpt::utils::TRuntimeClassId mrpt::opengl::CMesh::classCMesh [static]

Definition at line 60 of file CMesh.h.

const mrpt::utils::TRuntimeClassId* mrpt::opengl::CMesh::classinfo [static]

Definition at line 60 of file CMesh.h.

bool mrpt::opengl::CMesh::m_colorFromZ [protected]

Definition at line 65 of file CMesh.h.

mrpt::utils::TColormap mrpt::opengl::CMesh::m_colorMap [protected]

Used when m_colorFromZ is true.

Definition at line 73 of file CMesh.h.

bool mrpt::opengl::CMesh::m_enableTransparency [protected]

Definition at line 64 of file CMesh.h.

bool mrpt::opengl::CMesh::m_isWireFrame [protected]

Definition at line 66 of file CMesh.h.

bool mrpt::opengl::CMesh::m_modified_Z [mutable, protected]

Whether C is not up-to-date wrt to Z.

Definition at line 75 of file CMesh.h.

mrpt::utils::CImage mrpt::opengl::CMesh::m_textureImage [protected]

Definition at line 62 of file CMesh.h.

math::CMatrix mrpt::opengl::CMesh::mask [protected]

Definition at line 69 of file CMesh.h.

bool mrpt::opengl::CMesh::polygonsUpToDate [mutable, protected]

Definition at line 84 of file CMesh.h.

std::vector<mrpt::math::TPolygonWithPlane> mrpt::opengl::CMesh::tmpPolys [mutable, protected]

Definition at line 85 of file CMesh.h.

bool mrpt::opengl::CMesh::trianglesUpToDate [mutable, protected]

Whether the actual mesh needs to be recalculated.

Definition at line 83 of file CMesh.h.

math::CMatrix mrpt::opengl::CMesh::U [protected]

Definition at line 70 of file CMesh.h.

math::CMatrix mrpt::opengl::CMesh::V [protected]

Texture coordinates.

Definition at line 70 of file CMesh.h.

float mrpt::opengl::CMesh::xMax [protected]

Definition at line 81 of file CMesh.h.

float mrpt::opengl::CMesh::xMin [protected]

Definition at line 81 of file CMesh.h.

float mrpt::opengl::CMesh::yMax [protected]

Mesh bounds.

Definition at line 81 of file CMesh.h.

float mrpt::opengl::CMesh::yMin [protected]

Definition at line 81 of file CMesh.h.

math::CMatrix mrpt::opengl::CMesh::Z [protected]

Z(x,y): Z-coordinate of the point (x,y)

Definition at line 68 of file CMesh.h.