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Public Member Functions | Public Attributes | Protected Attributes | Private Member Functions

mrpt::opengl::CPlanarLaserScan Class Reference


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 :

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:
Inheritance graph
[legend]

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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static CPlanarLaserScanPtr Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 63 of file CPlanarLaserScan.h.


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.


Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CPlanarLaserScan::_GetBaseClass (  ) [static, protected]
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]
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]
void mrpt::opengl::CPlanarLaserScan::setSurfaceColor ( float  R,
float  G,
float  B,
float  A = 1.0f 
) [inline]

Definition at line 104 of file CPlanarLaserScan.h.


Member Data Documentation

Definition at line 63 of file CPlanarLaserScan.h.

Definition at line 63 of file CPlanarLaserScan.h.

Definition at line 63 of file CPlanarLaserScan.h.

Definition at line 66 of file CPlanarLaserScan.h.

Definition at line 67 of file CPlanarLaserScan.h.

Definition at line 82 of file CPlanarLaserScan.h.

Definition at line 81 of file CPlanarLaserScan.h.

Definition at line 83 of file CPlanarLaserScan.h.

Definition at line 71 of file CPlanarLaserScan.h.

Definition at line 71 of file CPlanarLaserScan.h.

Definition at line 71 of file CPlanarLaserScan.h.

Definition at line 71 of file CPlanarLaserScan.h.

Definition at line 70 of file CPlanarLaserScan.h.

Definition at line 76 of file CPlanarLaserScan.h.

Definition at line 76 of file CPlanarLaserScan.h.

Definition at line 76 of file CPlanarLaserScan.h.

Definition at line 76 of file CPlanarLaserScan.h.

Definition at line 74 of file CPlanarLaserScan.h.

Definition at line 74 of file CPlanarLaserScan.h.

Definition at line 74 of file CPlanarLaserScan.h.

Definition at line 74 of file CPlanarLaserScan.h.

Definition at line 73 of file CPlanarLaserScan.h.

Definition at line 65 of file CPlanarLaserScan.h.




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