mrpt::opengl::CPlanarLaserScan Class Reference

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Detailed Description

This object renders a 2D laser scan by means of three elements: the points, the line along end-points and the 2D scanned surface.

You can change the public members :

• CPlanarLaserScan::m_enable_points
• CPlanarLaserScan::m_enable_line
• CPlanarLaserScan::m_enable_surface To change the final result. More methods allow further customization of the 3D object. The scan is passed to "CPlanarLaserScan::setScan"

Note:

The laser points are projected at the sensor pose as given in the "scan" object, so this CPlanarLaserScan object should be placed at the exact pose of the robot coordinates origin.

See also:

mrpt::opengl::CPointCloud, opengl::COpenGLScene

Definition at line 61 of file CPlanarLaserScan.h.

#include <mrpt/opengl/CPlanarLaserScan.h>

Inheritance diagram for mrpt::opengl::CPlanarLaserScan:

List of all members.

Public Member Functions
void	clear ()
	< Clear the scan
void	setLineWidth (float w)
float	getLineWidth () const
void	sePointsWidth (float w)
void	setLineColor (float R, float G, float B, float A=1.0f)
void	setPointsColor (float R, float G, float B, float A=1.0f)
void	setSurfaceColor (float R, float G, float B, float A=1.0f)
void	setScan (const mrpt::slam::CObservation2DRangeScan &scan)
void	render_dl () const
	Render.
Public Attributes
bool	m_enable_points
bool	m_enable_line
bool	m_enable_surface
Protected Attributes
mrpt::slam::CObservation2DRangeScan	m_scan
mrpt::slam::CSimplePointsMap	m_cache_points
bool	m_cache_valid
float	m_line_width
float	m_line_R
float	m_line_G
float	m_line_B
float	m_line_A
float	m_points_width
float	m_points_R
float	m_points_G
float	m_points_B
float	m_points_A
float	m_plane_R
float	m_plane_G
float	m_plane_B
float	m_plane_A
Private Member Functions
	CPlanarLaserScan ()
	Constructor.
virtual	~CPlanarLaserScan ()
	Private, virtual destructor: only can be deleted from smart pointers.
RTTI stuff
typedef CPlanarLaserScanPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CPlanarLaserScan
static mrpt::utils::TRuntimeClassId	classCPlanarLaserScan
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 CPlanarLaserScanPtr	Create ()

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Member Typedef Documentation

typedef CPlanarLaserScanPtr mrpt::opengl::CPlanarLaserScan::SmartPtr

A typedef for the associated smart pointer

Definition at line 63 of file CPlanarLaserScan.h.

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Constructor & Destructor Documentation

mrpt::opengl::CPlanarLaserScan::CPlanarLaserScan

(

)

[private]

Constructor.

virtual mrpt::opengl::CPlanarLaserScan::~CPlanarLaserScan

(

)

[inline, private, virtual]

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

Definition at line 129 of file CPlanarLaserScan.h.

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Member Function Documentation

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

(

)

[static, protected]

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

void mrpt::opengl::CPlanarLaserScan::clear

(

)

< Clear the scan

static CPlanarLaserScanPtr mrpt::opengl::CPlanarLaserScan::Create

(

)

[static]

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

(

)

[static]

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

(

)

const [virtual]

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

Implements mrpt::utils::CObject.

float mrpt::opengl::CPlanarLaserScan::getLineWidth

(

)

const [inline]

Definition at line 86 of file CPlanarLaserScan.h.

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

(

)

const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

void mrpt::opengl::CPlanarLaserScan::render_dl

(

)

const [virtual]

Render.

Implements mrpt::opengl::CRenderizableDisplayList.

void mrpt::opengl::CPlanarLaserScan::sePointsWidth

(

float

w )

[inline]

Definition at line 88 of file CPlanarLaserScan.h.

void mrpt::opengl::CPlanarLaserScan::setLineColor	(	float	R,
		float	G,
		float	B,
		float	A = 1.0f
	)		[inline]

Definition at line 90 of file CPlanarLaserScan.h.

void mrpt::opengl::CPlanarLaserScan::setLineWidth

(

float

w )

[inline]

Definition at line 85 of file CPlanarLaserScan.h.

void mrpt::opengl::CPlanarLaserScan::setPointsColor	(	float	R,
		float	G,
		float	B,
		float	A = 1.0f
	)		[inline]

Definition at line 97 of file CPlanarLaserScan.h.

void mrpt::opengl::CPlanarLaserScan::setScan

(

const mrpt::slam::CObservation2DRangeScan &

scan )

[inline]

Definition at line 112 of file CPlanarLaserScan.h.

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

void mrpt::opengl::CPlanarLaserScan::setSurfaceColor	(	float	R,
		float	G,
		float	B,
		float	A = 1.0f
	)		[inline]

Definition at line 104 of file CPlanarLaserScan.h.

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Member Data Documentation

mrpt::utils::CLASSINIT mrpt::opengl::CPlanarLaserScan::_init_CPlanarLaserScan [static, protected]

Definition at line 63 of file CPlanarLaserScan.h.

mrpt::utils::TRuntimeClassId mrpt::opengl::CPlanarLaserScan::classCPlanarLaserScan [static]

Definition at line 63 of file CPlanarLaserScan.h.

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

Definition at line 63 of file CPlanarLaserScan.h.

mrpt::slam::CSimplePointsMap mrpt::opengl::CPlanarLaserScan::m_cache_points [mutable, protected]

Definition at line 66 of file CPlanarLaserScan.h.

bool mrpt::opengl::CPlanarLaserScan::m_cache_valid [mutable, protected]

Definition at line 67 of file CPlanarLaserScan.h.

bool mrpt::opengl::CPlanarLaserScan::m_enable_line

Definition at line 82 of file CPlanarLaserScan.h.

bool mrpt::opengl::CPlanarLaserScan::m_enable_points

Definition at line 81 of file CPlanarLaserScan.h.

bool mrpt::opengl::CPlanarLaserScan::m_enable_surface

Definition at line 83 of file CPlanarLaserScan.h.

float mrpt::opengl::CPlanarLaserScan::m_line_A [protected]

Definition at line 71 of file CPlanarLaserScan.h.

float mrpt::opengl::CPlanarLaserScan::m_line_B [protected]

Definition at line 71 of file CPlanarLaserScan.h.

float mrpt::opengl::CPlanarLaserScan::m_line_G [protected]

Definition at line 71 of file CPlanarLaserScan.h.

float mrpt::opengl::CPlanarLaserScan::m_line_R [protected]

Definition at line 71 of file CPlanarLaserScan.h.

float mrpt::opengl::CPlanarLaserScan::m_line_width [protected]

Definition at line 70 of file CPlanarLaserScan.h.

float mrpt::opengl::CPlanarLaserScan::m_plane_A [protected]

Definition at line 76 of file CPlanarLaserScan.h.

float mrpt::opengl::CPlanarLaserScan::m_plane_B [protected]

Definition at line 76 of file CPlanarLaserScan.h.

float mrpt::opengl::CPlanarLaserScan::m_plane_G [protected]

Definition at line 76 of file CPlanarLaserScan.h.

float mrpt::opengl::CPlanarLaserScan::m_plane_R [protected]

Definition at line 76 of file CPlanarLaserScan.h.

float mrpt::opengl::CPlanarLaserScan::m_points_A [protected]

Definition at line 74 of file CPlanarLaserScan.h.

float mrpt::opengl::CPlanarLaserScan::m_points_B [protected]

Definition at line 74 of file CPlanarLaserScan.h.

float mrpt::opengl::CPlanarLaserScan::m_points_G [protected]

Definition at line 74 of file CPlanarLaserScan.h.

float mrpt::opengl::CPlanarLaserScan::m_points_R [protected]

Definition at line 74 of file CPlanarLaserScan.h.

float mrpt::opengl::CPlanarLaserScan::m_points_width [protected]

Definition at line 73 of file CPlanarLaserScan.h.

mrpt::slam::CObservation2DRangeScan mrpt::opengl::CPlanarLaserScan::m_scan [protected]

Definition at line 65 of file CPlanarLaserScan.h.