A 2D ellipse or 3D ellipsoid, depending on the size of the m_cov matrix (2x2 or 3x3).
The center of the ellipsoid is the "m_x,m_y,m_z" object's coordinates. In the case of a 2D ellipse it will be drawn in the XY plane, for z=0. The color is determined by the RGBA fields in the class "CRenderizable". Note that a transparent ellipsoid can be drawn for "0<alpha<1" values. If one of the eigen value of the covariance matrix of the ellipsoid is null, ellipsoid will not be rendered.
Please read the documentation of CGeneralizedEllipsoidTemplate::setQuantiles() for learning the mathematical details about setting the desired confidence interval.
Definition at line 43 of file CEllipsoid.h.
#include <mrpt/opengl/CEllipsoid.h>
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
void | setCovMatrix (const mrpt::math::CMatrixDouble &m, int resizeToSize=-1) |
Set the 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid (if resizeToSize>0, the matrix will be cut to the square matrix of the given size) More... | |
void | setCovMatrix (const mrpt::math::CMatrixFloat &m, int resizeToSize=-1) |
Set the 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid (if resizeToSize>0, the matrix will be cut to the square matrix of the given size). More... | |
template<typename T > | |
void | setCovMatrix (const mrpt::math::CMatrixFixedNumeric< T, 3, 3 > &m, int resizeToSize=-1) |
Set the 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid (if resizeToSize>0, the matrix will be cut to the square matrix of the given size) More... | |
template<typename T > | |
void | setCovMatrix (const mrpt::math::CMatrixFixedNumeric< T, 2, 2 > &m) |
Set the 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid (if resizeToSize>0, the matrix will be cut to the square matrix of the given size) More... | |
mrpt::math::CMatrixDouble | getCovMatrix () const |
void | enableDrawSolid3D (bool v) |
If set to true (default), a whole ellipsoid surface will be drawn, or if set to "false" it will be drawn as a "wireframe". More... | |
void | setQuantiles (float q) |
The number of "sigmas" for drawing the ellipse/ellipsoid (default=3) More... | |
float | getQuantiles () const |
void | set2DsegmentsCount (unsigned int N) |
The number of segments of a 2D ellipse (default=20) More... | |
void | set3DsegmentsCount (unsigned int N) |
The number of segments of a 3D ellipse (in both "axis") (default=20) More... | |
void | setLineWidth (float w) |
The line width for 2D ellipses or 3D wireframe ellipsoids (default=1) More... | |
float | getLineWidth () const |
void | render_dl () const MRPT_OVERRIDE |
Render If one of the eigen value of the covariance matrix of the ellipsoid is null, ellipsoid will not be rendered to ensure stability in the rendering process. More... | |
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 the object parent. More... | |
bool | traceRay (const mrpt::poses::CPose3D &o, double &dist) const MRPT_OVERRIDE |
Ray tracing. More... | |
CRenderizableDisplayList * | clone () const |
Interface for the stlplus smart pointer class. More... | |
void | render () const MRPT_OVERRIDE |
Render the object, regenerating the display list if needed, otherwise just calling it. More... | |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
mrpt::utils::CObjectPtr | duplicateGetSmartPtr () const |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
Changes the appearance of the object to render (methods from CRenderizable that need to be redefined) | |
CRenderizable & | setColorR_u8 (const uint8_t r) MRPT_OVERRIDE |
Color components in the range [0,255]. More... | |
CRenderizable & | setColorG_u8 (const uint8_t g) MRPT_OVERRIDE |
Color components in the range [0,255]. More... | |
CRenderizable & | setColorB_u8 (const uint8_t b) MRPT_OVERRIDE |
Color components in the range [0,255]. More... | |
CRenderizable & | setColorA_u8 (const uint8_t a) MRPT_OVERRIDE |
Color components in the range [0,255]. More... | |
CRenderizable & | setColor_u8 (const mrpt::utils::TColor &c) MRPT_OVERRIDE |
Changes the default object color. More... | |
Changes the appearance of the object to render | |
CRenderizable & | setColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255) |
Set the color components of this object (R,G,B,Alpha, in the range 0-1) More... | |
void | setName (const std::string &n) |
Changes the name of the object. More... | |
const std::string & | getName () const |
Returns the name of the object. More... | |
bool | isVisible () const |
Is the object visible? More... | |
void | setVisibility (bool visible=true) |
Set object visibility (default=true) More... | |
void | enableShowName (bool showName=true) |
Enables or disables showing the name of the object as a label when rendering. More... | |
bool | isShowNameEnabled () const |
CRenderizable & | setPose (const mrpt::poses::CPose3D &o) |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More... | |
CRenderizable & | setPose (const mrpt::math::TPose3D &o) |
Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More... | |
CRenderizable & | setPose (const mrpt::poses::CPoint3D &o) |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More... | |
CRenderizable & | setPose (const mrpt::poses::CPoint2D &o) |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More... | |
mrpt::math::TPose3D | getPose () const |
Returns the 3D pose of the object as TPose3D. More... | |
const mrpt::poses::CPose3D & | getPoseRef () const |
Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More... | |
CRenderizable & | setLocation (double x, double y, double z) |
Changes the location of the object, keeping untouched the orientation. More... | |
CRenderizable & | setLocation (const mrpt::math::TPoint3D &p) |
Changes the location of the object, keeping untouched the orientation. More... | |
double | getPoseX () const |
Translation relative to parent coordinate origin. More... | |
double | getPoseY () const |
Translation relative to parent coordinate origin. More... | |
double | getPoseZ () const |
Translation relative to parent coordinate origin. More... | |
double | getPoseYaw () const |
Rotation relative to parent coordinate origin, in DEGREES. More... | |
double | getPosePitch () const |
Rotation relative to parent coordinate origin, in DEGREES. More... | |
double | getPoseRoll () const |
Rotation relative to parent coordinate origin, in DEGREES. More... | |
double | getPoseYawRad () const |
Rotation relative to parent coordinate origin, in radians. More... | |
double | getPosePitchRad () const |
Rotation relative to parent coordinate origin, in radians. More... | |
double | getPoseRollRad () const |
Rotation relative to parent coordinate origin, in radians. More... | |
double | getColorR () const |
Color components in the range [0,1]. More... | |
double | getColorG () const |
Color components in the range [0,1]. More... | |
double | getColorB () const |
Color components in the range [0,1]. More... | |
double | getColorA () const |
Color components in the range [0,1]. More... | |
uint8_t | getColorR_u8 () const |
Color components in the range [0,255]. More... | |
uint8_t | getColorG_u8 () const |
Color components in the range [0,255]. More... | |
uint8_t | getColorB_u8 () const |
Color components in the range [0,255]. More... | |
uint8_t | getColorA_u8 () const |
Color components in the range [0,255]. More... | |
CRenderizable & | setColorR (const double r) |
Color components in the range [0,1]. More... | |
CRenderizable & | setColorG (const double g) |
Color components in the range [0,1]. More... | |
CRenderizable & | setColorB (const double b) |
Color components in the range [0,1]. More... | |
CRenderizable & | setColorA (const double a) |
Color components in the range [0,1]. More... | |
CRenderizable & | setScale (float s) |
Scale to apply to the object, in all three axes (default=1) More... | |
CRenderizable & | setScale (float sx, float sy, float sz) |
Scale to apply to the object in each axis (default=1) More... | |
float | getScaleX () const |
Get the current scaling factor in one axis. More... | |
float | getScaleY () const |
Get the current scaling factor in one axis. More... | |
float | getScaleZ () const |
Get the current scaling factor in one axis. More... | |
mrpt::utils::TColorf | getColor () const |
Returns the object color property as a TColorf. More... | |
CRenderizable & | setColor (const mrpt::utils::TColorf &c) |
CRenderizable & | setColor (double R, double G, double B, double A=1) |
Set the color components of this object (R,G,B,Alpha, in the range 0-1) More... | |
const mrpt::utils::TColor & | getColor_u8 () const |
Returns the object color property as a TColor. More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static void | renderTextBitmap (const char *str, void *fontStyle) |
This method is safe for calling from within ::render() methods. More... | |
static void | renderTextBitmap (int screen_x, int screen_y, const std::string &str, float color_r=1, float color_g=1, float color_b=1, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24) |
Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods) More... | |
static int | textBitmapWidth (const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24) |
Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap(). More... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCRenderizableDisplayList |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCRenderizable |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
void | writeToStreamRender (utils::CStream &out) const |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
Methods accesible or implemented by derived classes | |
EIGEN_STRONG_INLINE void | notifyChange () const |
Must be called to notify that the object has changed (so, the display list must be updated) More... | |
virtual bool | should_skip_display_list_cache () const |
Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases. More... | |
void | readFromStreamRender (mrpt::utils::CStream &in) |
Static Protected Member Functions | |
static void | checkOpenGLError () |
Checks glGetError and throws an exception if an error situation is found. More... | |
static unsigned int | getNewTextureNumber () |
Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool). More... | |
static void | releaseTextureName (unsigned int i) |
Protected Attributes | |
math::CMatrixD | m_eigVal |
Used to store computed values the first time this is rendered, and to avoid recomputing them again. More... | |
math::CMatrixD | m_eigVec |
math::CMatrixD | m_prevComputedCov |
math::CMatrixD | m_cov |
The 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid. More... | |
bool | m_drawSolid3D |
If set to true (default), a whole ellipsoid surface will be drawn, or if set to "false" it will be drawn as a "wireframe". More... | |
float | m_quantiles |
The number of "sigmas" for drawing the ellipse/ellipsoid (default=3) More... | |
unsigned int | m_2D_segments |
The number of segments of a 2D ellipse (default=20) More... | |
unsigned int | m_3D_segments |
The number of segments of a 3D ellipse (in both "axis") (default=20) More... | |
float | m_lineWidth |
The line width for 2D ellipses or 3D wireframe ellipsoids (default=1) More... | |
mrpt::math::TPoint3D | m_bb_min |
mrpt::math::TPoint3D | m_bb_max |
std::string | m_name |
bool | m_show_name |
mrpt::utils::TColor | m_color |
Color components in the range [0,255]. More... | |
mrpt::poses::CPose3D | m_pose |
6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack. More... | |
float | m_scale_x |
float | m_scale_y |
float | m_scale_z |
Scale components to apply to the object (default=1) More... | |
bool | m_visible |
Is the object visible? (default=true) More... | |
Private Member Functions | |
CEllipsoid () | |
Constructor. More... | |
virtual | ~CEllipsoid () |
Private, virtual destructor: only can be deleted from smart pointers. More... | |
Private Attributes | |
unsigned int | m_dl |
Display list ID, for derived classes that want to use it (it's automatically deleted and freed on destruction of this base class). More... | |
bool | m_dl_recreate |
If using display lists, this is true when the list must be updated (the object changes, it's the first rendering, etc...). More... | |
RTTI stuff <br> | |
typedef CEllipsoidPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CEllipsoid |
static mrpt::utils::TRuntimeClassId | classCEllipsoid |
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. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CEllipsoidPtr | Create () |
typedef CEllipsoidPtr mrpt::opengl::CEllipsoid::SmartPtr |
A typedef for the associated smart pointer
Definition at line 45 of file CEllipsoid.h.
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inlineprivate |
Constructor.
Definition at line 107 of file CEllipsoid.h.
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inlineprivatevirtual |
Private, virtual destructor: only can be deleted from smart pointers.
Definition at line 119 of file CEllipsoid.h.
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staticprotected |
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staticprotectedinherited |
Checks glGetError and throws an exception if an error situation is found.
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inlineinherited |
Interface for the stlplus smart pointer class.
Definition at line 71 of file CRenderizableDisplayList.h.
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static |
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static |
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virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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inlineinherited |
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inline |
If set to true (default), a whole ellipsoid surface will be drawn, or if set to "false" it will be drawn as a "wireframe".
Definition at line 80 of file CEllipsoid.h.
References mrpt::opengl::CRenderizableDisplayList::notifyChange().
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inlineinherited |
Enables or disables showing the name of the object as a label when rendering.
Definition at line 69 of file CRenderizable.h.
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virtual |
Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent.
Implements mrpt::opengl::CRenderizable.
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inlineinherited |
Returns the object color property as a TColorf.
Definition at line 124 of file CRenderizable.h.
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inlineinherited |
Returns the object color property as a TColor.
Definition at line 133 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,1].
Definition at line 100 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,255].
Definition at line 105 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,1].
Definition at line 99 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,255].
Definition at line 104 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,1].
Definition at line 98 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,255].
Definition at line 103 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,1].
Definition at line 97 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,255].
Definition at line 102 of file CRenderizable.h.
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inline |
Definition at line 78 of file CEllipsoid.h.
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inline |
Definition at line 88 of file CEllipsoid.h.
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inlineinherited |
Returns the name of the object.
Definition at line 64 of file CRenderizable.h.
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staticprotectedinherited |
Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).
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inherited |
Returns the 3D pose of the object as TPose3D.
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inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 91 of file CRenderizable.h.
References mrpt::utils::RAD2DEG().
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inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 94 of file CRenderizable.h.
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inlineinherited |
Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix)
Definition at line 79 of file CRenderizable.h.
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inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 92 of file CRenderizable.h.
References mrpt::utils::RAD2DEG().
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inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 95 of file CRenderizable.h.
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inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 87 of file CRenderizable.h.
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inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 88 of file CRenderizable.h.
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inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 90 of file CRenderizable.h.
References mrpt::utils::RAD2DEG().
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inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 93 of file CRenderizable.h.
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inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 89 of file CRenderizable.h.
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inline |
Definition at line 82 of file CEllipsoid.h.
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virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::opengl::CRenderizableDisplayList.
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inlineinherited |
Get the current scaling factor in one axis.
Definition at line 119 of file CRenderizable.h.
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inlineinherited |
Get the current scaling factor in one axis.
Definition at line 120 of file CRenderizable.h.
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inlineinherited |
Get the current scaling factor in one axis.
Definition at line 121 of file CRenderizable.h.
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inlineinherited |
Definition at line 70 of file CRenderizable.h.
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inlineinherited |
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inlineprotectedinherited |
Must be called to notify that the object has changed (so, the display list must be updated)
Definition at line 49 of file CRenderizableDisplayList.h.
Referenced by mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtEnd(), mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtStart(), mrpt::opengl::CMesh::adjustGridToImageAR(), mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CSetOfLines::begin(), mrpt::opengl::CSetOfLines::clear(), mrpt::opengl::CVectorField2D::clear(), mrpt::opengl::CVectorField3D::clear(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::COpenGLStandardObject::enable(), mrpt::opengl::CGridPlaneXY::enableAntiAliasing(), mrpt::opengl::CGridPlaneXZ::enableAntiAliasing(), mrpt::opengl::CSetOfLines::enableAntiAliasing(), mrpt::opengl::CSimpleLine::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), mrpt::opengl::CVectorField3D::enableAntiAliasing(), mrpt::opengl::CMesh3D::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::CMeshFast::enableColorFromZ(), mrpt::opengl::COctoMapVoxels::enableCubeTransparency(), enableDrawSolid3D(), mrpt::opengl::C3DSScene::enableExtraAmbientLight(), mrpt::opengl::CMesh3D::enableFaceNormals(), mrpt::opengl::COctoMapVoxels::enableLights(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CSphere::enableRadiusIndependentOfEyeDistance(), mrpt::opengl::CMesh3D::enableShowEdges(), mrpt::opengl::CMesh3D::enableShowFaces(), mrpt::opengl::CVectorField3D::enableShowPoints(), mrpt::opengl::CMesh3D::enableShowVertices(), mrpt::opengl::CPlanarLaserScan::enableSurface(), mrpt::opengl::CAxis::enableTickMarks(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CMesh3D::enableTransparency(), mrpt::opengl::CMeshFast::enableTransparency(), mrpt::opengl::CSetOfTriangles::enableTransparency(), mrpt::opengl::CMesh::enableWireFrame(), mrpt::opengl::CSetOfLines::end(), mrpt::opengl::COctoMapVoxels::getGridCubeRef(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), mrpt::opengl::COctoMapVoxels::getVoxel(), mrpt::opengl::COctoMapVoxels::getVoxelRef(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::opengl::CSetOfLines::reserve(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), mrpt::opengl::CSetOfLines::resize(), mrpt::opengl::CVectorField2D::resize(), mrpt::opengl::CVectorField3D::resize(), mrpt::opengl::COctoMapVoxels::resizeGridCubes(), mrpt::opengl::COctoMapVoxels::resizeVoxels(), mrpt::opengl::COctoMapVoxels::resizeVoxelSets(), set2DsegmentsCount(), set3DsegmentsCount(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsInvisible(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsVisible(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CArrow::setArrowYawPitchRoll(), mrpt::opengl::CGeneralizedCylinder::setAxis(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), mrpt::opengl::CGeneralizedCylinder::setClosed(), mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::COpenGLStandardObject::setFlags(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), mrpt::opengl::CGeneralizedCylinder::setGeneratrix(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CVectorField2D::setGridLimits(), mrpt::opengl::CMesh::setGridLimits(), mrpt::opengl::CMeshFast::setGridLimits(), mrpt::opengl::COctoMapVoxels::setGridLinesColor(), mrpt::opengl::COctoMapVoxels::setGridLinesWidth(), mrpt::opengl::CCylinder::setHasBases(), mrpt::opengl::CArrow::setHeadRatio(), mrpt::opengl::CCylinder::setHeight(), mrpt::opengl::CArrow::setLargeRadius(), mrpt::opengl::CSetOfLines::setLineByIndex(), mrpt::opengl::CSimpleLine::setLineCoords(), mrpt::opengl::CVectorField2D::setLineWidth(), mrpt::opengl::CVectorField3D::setLineWidth(), mrpt::opengl::CPolyhedron::setLineWidth(), mrpt::opengl::CAxis::setLineWidth(), setLineWidth(), mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setLineWidth(), mrpt::opengl::CGridPlaneXY::setLineWidth(), mrpt::opengl::CGridPlaneXZ::setLineWidth(), mrpt::opengl::CSetOfLines::setLineWidth(), mrpt::opengl::CSimpleLine::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CFrustum::setLineWidth(), mrpt::opengl::CDisk::setLoopsCount(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::COpenGLStandardObject::setNormal(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CSphere::setNumberDivsLongitude(), mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setNumberOfSegments(), mrpt::opengl::CFrustum::setPlaneColor(), mrpt::opengl::CTexturedPlane::setPlaneCorners(), mrpt::opengl::CGridPlaneXY::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneYcoord(), mrpt::opengl::CGridPlaneXY::setPlaneZcoord(), mrpt::opengl::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CVectorField2D::setPointSize(), mrpt::opengl::CVectorField3D::setPointSize(), setQuantiles(), mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setQuantiles(), mrpt::opengl::CCylinder::setRadii(), mrpt::opengl::CSphere::setRadius(), mrpt::opengl::CCylinder::setRadius(), mrpt::opengl::CPlanarLaserScan::setScan(), mrpt::opengl::CDisk::setSlicesCount(), mrpt::opengl::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CCylinder::setStacksCount(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CTexturedPlane::setTextureCornerCoords(), mrpt::opengl::CVectorField2D::setVectorField(), mrpt::opengl::CVectorField3D::setVectorField(), mrpt::opengl::CVectorField2D::setVectorFieldColor(), mrpt::opengl::CVectorField3D::setVectorFieldColor(), mrpt::opengl::CGeneralizedCylinder::setVisibleSections(), mrpt::opengl::COctoMapVoxels::setVisualizationMode(), mrpt::opengl::COctoMapVoxels::setVoxelAsPointsSize(), mrpt::opengl::CAngularObservationMesh::setWireframe(), mrpt::opengl::CPolyhedron::setWireframe(), mrpt::opengl::CBox::setWireframe(), mrpt::opengl::CMesh::setXBounds(), mrpt::opengl::CMeshFast::setXBounds(), mrpt::opengl::CMesh::setXMax(), mrpt::opengl::CMeshFast::setXMax(), mrpt::opengl::CMesh::setXMin(), mrpt::opengl::CMeshFast::setXMin(), mrpt::opengl::CMesh::setYBounds(), mrpt::opengl::CMeshFast::setYBounds(), mrpt::opengl::CMesh::setYMax(), mrpt::opengl::CMeshFast::setYMax(), mrpt::opengl::CMesh::setYMin(), mrpt::opengl::CMeshFast::setYMin(), mrpt::opengl::COctoMapVoxels::showGridLines(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::showVoxelsAsPoints(), and mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::thisclass_readFromStream().
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inline |
Definition at line 45 of file CEllipsoid.h.
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inline |
Definition at line 45 of file CEllipsoid.h.
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inline |
Definition at line 45 of file CEllipsoid.h.
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inline |
Definition at line 45 of file CEllipsoid.h.
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inline |
Definition at line 45 of file CEllipsoid.h.
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inline |
Definition at line 45 of file CEllipsoid.h.
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inlinestatic |
Definition at line 45 of file CEllipsoid.h.
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inline |
Definition at line 45 of file CEllipsoid.h.
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protectedvirtual |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
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inlineprotectedinherited |
Definition at line 58 of file CRenderizableDisplayList.h.
References mrpt::opengl::CRenderizable::readFromStreamRender().
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staticprotectedinherited |
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virtualinherited |
Render the object, regenerating the display list if needed, otherwise just calling it.
Implements mrpt::opengl::CRenderizable.
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virtual |
Render If one of the eigen value of the covariance matrix of the ellipsoid is null, ellipsoid will not be rendered to ensure stability in the rendering process.
Implements mrpt::opengl::CRenderizableDisplayList.
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staticinherited |
This method is safe for calling from within ::render() methods.
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staticinherited |
Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)
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inline |
The number of segments of a 2D ellipse (default=20)
Definition at line 84 of file CEllipsoid.h.
References mrpt::opengl::CRenderizableDisplayList::notifyChange().
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inline |
The number of segments of a 3D ellipse (in both "axis") (default=20)
Definition at line 85 of file CEllipsoid.h.
References mrpt::opengl::CRenderizableDisplayList::notifyChange().
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inlineinherited |
c | Changes the default object color |
Definition at line 125 of file CRenderizable.h.
References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, and mrpt::utils::TColorf::R.
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inlineinherited |
Set the color components of this object (R,G,B,Alpha, in the range 0-1)
Definition at line 131 of file CRenderizable.h.
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inlinevirtualinherited |
Changes the default object color.
Reimplemented from mrpt::opengl::CRenderizable.
Reimplemented in mrpt::opengl::CSetOfTriangles.
Definition at line 86 of file CRenderizableDisplayList.h.
References mrpt::opengl::CRenderizable::setColor_u8().
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inlineinherited |
Set the color components of this object (R,G,B,Alpha, in the range 0-1)
Definition at line 138 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColor_u8().
Referenced by mrpt::opengl::CRenderizable::setColor_u8().
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inlineinherited |
Color components in the range [0,1].
Definition at line 110 of file CRenderizable.h.
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inlinevirtualinherited |
Color components in the range [0,255].
Reimplemented from mrpt::opengl::CRenderizable.
Reimplemented in mrpt::opengl::CSetOfTriangles.
Definition at line 85 of file CRenderizableDisplayList.h.
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inlineinherited |
Color components in the range [0,1].
Definition at line 109 of file CRenderizable.h.
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inlinevirtualinherited |
Color components in the range [0,255].
Reimplemented from mrpt::opengl::CRenderizable.
Reimplemented in mrpt::opengl::CSetOfTriangles.
Definition at line 84 of file CRenderizableDisplayList.h.
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inlineinherited |
Color components in the range [0,1].
Definition at line 108 of file CRenderizable.h.
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inlinevirtualinherited |
Color components in the range [0,255].
Reimplemented from mrpt::opengl::CRenderizable.
Reimplemented in mrpt::opengl::CSetOfTriangles.
Definition at line 83 of file CRenderizableDisplayList.h.
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inlineinherited |
Color components in the range [0,1].
Definition at line 107 of file CRenderizable.h.
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inlinevirtualinherited |
Color components in the range [0,255].
Reimplemented from mrpt::opengl::CRenderizable.
Reimplemented in mrpt::opengl::CSetOfTriangles.
Definition at line 82 of file CRenderizableDisplayList.h.
void mrpt::opengl::CEllipsoid::setCovMatrix | ( | const mrpt::math::CMatrixDouble & | m, |
int | resizeToSize = -1 |
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) |
Set the 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid (if resizeToSize>0, the matrix will be cut to the square matrix of the given size)
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inline |
Set the 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid (if resizeToSize>0, the matrix will be cut to the square matrix of the given size)
Definition at line 74 of file CEllipsoid.h.
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inline |
Set the 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid (if resizeToSize>0, the matrix will be cut to the square matrix of the given size)
Definition at line 67 of file CEllipsoid.h.
void mrpt::opengl::CEllipsoid::setCovMatrix | ( | const mrpt::math::CMatrixFloat & | m, |
int | resizeToSize = -1 |
||
) |
Set the 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid (if resizeToSize>0, the matrix will be cut to the square matrix of the given size).
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inline |
The line width for 2D ellipses or 3D wireframe ellipsoids (default=1)
Definition at line 87 of file CEllipsoid.h.
References mrpt::opengl::CRenderizableDisplayList::notifyChange().
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inlineinherited |
Changes the location of the object, keeping untouched the orientation.
Definition at line 85 of file CRenderizable.h.
References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
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inlineinherited |
Changes the location of the object, keeping untouched the orientation.
Definition at line 82 of file CRenderizable.h.
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inlineinherited |
Changes the name of the object.
Definition at line 63 of file CRenderizable.h.
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inherited |
Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
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inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
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inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
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inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
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inline |
The number of "sigmas" for drawing the ellipse/ellipsoid (default=3)
Definition at line 81 of file CEllipsoid.h.
References mrpt::opengl::CRenderizableDisplayList::notifyChange().
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inlineinherited |
Scale to apply to the object, in all three axes (default=1)
Definition at line 117 of file CRenderizable.h.
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inlineinherited |
Scale to apply to the object in each axis (default=1)
Definition at line 118 of file CRenderizable.h.
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inlineinherited |
Set object visibility (default=true)
Definition at line 67 of file CRenderizable.h.
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inlineprotectedvirtualinherited |
Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases.
Reimplemented in mrpt::opengl::CSphere.
Definition at line 56 of file CRenderizableDisplayList.h.
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staticinherited |
Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
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virtual |
Ray tracing.
Reimplemented from mrpt::opengl::CRenderizable.
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inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
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protectedvirtual |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
out | The output binary stream where object must be dumped. |
getVersion | If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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protectedinherited |
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staticprotected |
Definition at line 45 of file CEllipsoid.h.
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static |
Definition at line 45 of file CEllipsoid.h.
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staticinherited |
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staticinherited |
Definition at line 46 of file CRenderizable.h.
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staticinherited |
Definition at line 38 of file CRenderizableDisplayList.h.
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staticinherited |
Definition at line 42 of file CSerializable.h.
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static |
Definition at line 45 of file CEllipsoid.h.
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protected |
The number of segments of a 2D ellipse (default=20)
Definition at line 55 of file CEllipsoid.h.
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protected |
The number of segments of a 3D ellipse (in both "axis") (default=20)
Definition at line 56 of file CEllipsoid.h.
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protected |
Definition at line 58 of file CEllipsoid.h.
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mutableprotected |
Definition at line 58 of file CEllipsoid.h.
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protectedinherited |
Color components in the range [0,255].
Definition at line 54 of file CRenderizable.h.
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protected |
The 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid.
Definition at line 52 of file CEllipsoid.h.
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mutableprivateinherited |
Display list ID, for derived classes that want to use it (it's automatically deleted and freed on destruction of this base class).
Definition at line 41 of file CRenderizableDisplayList.h.
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mutableprivateinherited |
If using display lists, this is true when the list must be updated (the object changes, it's the first rendering, etc...).
Definition at line 42 of file CRenderizableDisplayList.h.
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protected |
If set to true (default), a whole ellipsoid surface will be drawn, or if set to "false" it will be drawn as a "wireframe".
Definition at line 53 of file CEllipsoid.h.
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protected |
Used to store computed values the first time this is rendered, and to avoid recomputing them again.
Definition at line 50 of file CEllipsoid.h.
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protected |
Definition at line 50 of file CEllipsoid.h.
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protected |
The line width for 2D ellipses or 3D wireframe ellipsoids (default=1)
Definition at line 57 of file CEllipsoid.h.
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protectedinherited |
Definition at line 52 of file CRenderizable.h.
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protectedinherited |
6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.
Definition at line 55 of file CRenderizable.h.
Referenced by mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::render_dl().
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protected |
Definition at line 50 of file CEllipsoid.h.
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protected |
The number of "sigmas" for drawing the ellipse/ellipsoid (default=3)
Definition at line 54 of file CEllipsoid.h.
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protectedinherited |
Definition at line 56 of file CRenderizable.h.
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protectedinherited |
Definition at line 56 of file CRenderizable.h.
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protectedinherited |
Scale components to apply to the object (default=1)
Definition at line 56 of file CRenderizable.h.
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protectedinherited |
Definition at line 53 of file CRenderizable.h.
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protectedinherited |
Is the object visible? (default=true)
Definition at line 57 of file CRenderizable.h.
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