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CTexturedPlane.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef opengl_CTexturedPlane_H
10#define opengl_CTexturedPlane_H
11
13
14namespace mrpt
15{
16 namespace opengl
17 {
18
19
20 // This must be added to any CSerializable derived class:
22
23 /** A 2D plane in the XY plane with a texture image.
24 * \sa opengl::COpenGLScene
25 * \ingroup mrpt_opengl_grp
26 */
28 {
30 protected:
31 mutable float m_tex_x_min,m_tex_x_max;
32 mutable float m_tex_y_min,m_tex_y_max;
33
34 float m_xMin, m_xMax;
35 float m_yMin, m_yMax;
36
37 mutable bool polygonUpToDate;
38 mutable std::vector<mrpt::math::TPolygonWithPlane> tmpPoly; //!< Used for ray-tracing
39 void updatePoly() const;
41
43
44 public:
45 /** Set the texture coordinates of the four corners (in the range 0-1). */
46 void setTextureCornerCoords( float tex_x_min, float tex_x_max, float tex_y_min, float tex_y_max)
47 {
48 m_tex_x_min=tex_x_min;
49 m_tex_x_max=tex_x_max;
50 m_tex_y_min=tex_y_min;
51 m_tex_y_max=tex_y_max;
53 }
54
55 /** Set the coordinates of the four corners that define the plane on the XY plane. */
56 void setPlaneCorners(float xMin, float xMax, float yMin, float yMax)
57 {
58 m_xMin = xMin; m_xMax = xMax;
59 m_yMin = yMin; m_yMax = yMax;
60 polygonUpToDate=false;
62 }
63
64 /** Get the coordinates of the four corners that define the plane on the XY plane. */
65 inline void getPlaneCorners(float &xMin, float &xMax, float &yMin, float &yMax) const
66 {
67 xMin = m_xMin; xMax = m_xMax;
68 yMin = m_yMin; yMax = m_yMax;
69 }
70
71 /** Class factory */
72 static CTexturedPlanePtr Create(float x_min, float x_max, float y_min, float y_max);
73
74 virtual bool traceRay(const mrpt::poses::CPose3D &o,double &dist) const MRPT_OVERRIDE;
76
77 private:
78 /** Constructor
79 */
81 float x_min = -1,
82 float x_max = 1,
83 float y_min = -1,
84 float y_max = 1
85 );
86
87 /** Private, virtual destructor: only can be deleted from smart pointers */
88 virtual ~CTexturedPlane();
89 };
91
92 } // end namespace
93
94} // End of namespace
95
96
97#endif
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated)
A base class for all OpenGL objects with loadable textures.
A 2D plane in the XY plane with a texture image.
static CTexturedPlanePtr Create(float x_min, float x_max, float y_min, float y_max)
Class factory
std::vector< mrpt::math::TPolygonWithPlane > tmpPoly
Used for ray-tracing.
CTexturedPlane(float x_min=-1, float x_max=1, float y_min=-1, float y_max=1)
Constructor.
void render_texturedobj() const MRPT_OVERRIDE
Must be implemented by derived classes.
virtual bool traceRay(const mrpt::poses::CPose3D &o, double &dist) const MRPT_OVERRIDE
Simulation of ray-trace, given a pose.
void setPlaneCorners(float xMin, float xMax, float yMin, float yMax)
Set the coordinates of the four corners that define the plane on the XY plane.
void getPlaneCorners(float &xMin, float &xMax, float &yMin, float &yMax) const
Get the coordinates of the four corners that define the plane on the XY plane.
virtual void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE
Evaluates the bounding box of this object (including possible children) in the coordinate frame of th...
virtual ~CTexturedPlane()
Private, virtual destructor: only can be deleted from smart pointers.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:73
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition: mrpt_macros.h:28
struct OPENGL_IMPEXP CTexturedPlanePtr
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Lightweight 3D point.



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