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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/gepetto/viewer/node.h	Lines:	7	29	24.1 %
Date:	2024-04-14 11:13:22	Branches:	1	6	16.7 %


//
//  node.h
//  gepetto-viewer
//
//  Created by Justin Carpentier, Mathieu Geisert in November 2014.
//  Copyright (c) 2014 LAAS-CNRS. All rights reserved.
//

#ifndef GEPETTO_VIEWER_NODE_HH
#define GEPETTO_VIEWER_NODE_HH

#include <gepetto/viewer/config-osg.h>
#include <gepetto/viewer/fwd.h>
#include <gepetto/viewer/node-property.h>
#include <gepetto/viewer/node-visitor.h>

#include <iostream>

namespace gepetto {
namespace viewer {

enum { VisibilityBit = 1 << 0, IntersectionBit = 1 << 1, NodeBit = 1 << 2 };

/// Abstract base class of 3D objects in a scene.
class Node : public Properties {
 private:
  friend struct NodeTest;

  std::string id_name_;  // automoatic id generated by the program
  bool dirty_;

  /** PositionAttitudeTransform related to the global configuration */
  osg::MatrixTransformRefPtr transform_ptr_;
  RangedStoredPropertyTpl<osgVector3, float> scale_;
  osg::Matrixf Ms_;
  StoredPropertyTpl<Configuration> M_;

  /** Associated switch node */
  /** TODO: The use of multiswitch may be better */
  osg::GroupRefPtr switch_node_ptr_;
  WireFrameMode selected_wireframe_;
  std::vector< ::osg::GroupRefPtr> wireframe_modes_;

  osg::GroupRefPtr hl_switch_node_ptr_;
  std::size_t selected_highlight_;
  bool highlight_enabled_;
  std::vector< ::osg::GroupRefPtr> highlight_nodes_;

  VisibilityMode visibilityMode_;
  LightingMode lightingMode_;

  /** Initialization function */
  void init();

  void updateTransform();

  ::osg::Group* setupHighlightState(unsigned int state);

 protected:
  /** protected because it's used in LeafNodeCapsule */
  ::osg::GeodeRefPtr landmark_geode_ptr_;

  /** Geode pointer for landmarks */
  ::osg::GeodeRefPtr geode_ptr_;
  /** Alpha value */
  float alpha_;

  /**
   \brief Default constructor
   */
  Node(const std::string& name);

  /** Copy constructor */
  Node(const Node& other);

  /**
   \brief Return the root node to include it in the scene
   */
  ::osg::GroupRefPtr asQueue() const { return transform_ptr_; }

  void setID(const std::string& id_name) {
    id_name_ = id_name;
    switch_node_ptr_->setName(id_name_);
  }

  void setTransparentRenderingBin(bool transparent = true,
                                  osg::StateSet* ss = NULL);

 public:
  static const float TransparencyRenderingBinThreshold;

  /**
   \brief returns rotation and position of the node
   in word frame
   */
  const Configuration& getGlobalTransform() const;

  /**
   \brief getID is a public method for getting the id_name of the Object
   */
  std::string getID() const { return id_name_; }

  bool isDirty() const { return dirty_; }

  void setDirty(bool dirty = true) { dirty_ = dirty; }

  /** Whether this node (and its children) can be selected from mouse.
   */
  bool isSelectable() const {
    return transform_ptr_->getNodeMask() & IntersectionBit;
  }

  /** Set whether this node (and its children) can be selected from mouse.
   */
  void setSelectable(bool selectable = true);

  /** Apply a new global configuration
   */
  inline void applyConfiguration(const osgVector3& position,
                                 const osgQuat& quat) {
    applyConfiguration(Configuration(position, quat));
  }

  /** Apply a new global configuration
   */
  void applyConfiguration(const Configuration& cfg) { M_.set(cfg); }

  /** Set Static transformation
   */
  void setStaticTransform(const osgVector3& position, const osgQuat& quat);

  /** Get Static rotation
   */
  osgQuat getStaticRotation() const;

  /** Get Static position
   */
  osgVector3 getStaticPosition() const;

  /**
   \brief Virtual method for setting the visibility mode of the object : visible
   or not visible \param visibilitymode state
   */
  virtual void setVisibilityMode(const VisibilityMode& visibility_state);

  virtual const VisibilityMode& getVisibilityMode() const {
    return visibilityMode_;
  }

  /**
   \brief Virtual method for setting the lighting mode of the object : influence
   by light or not \param lightingmode state
   */
  virtual void setLightingMode(const LightingMode& lighting_state);

  virtual LightingMode getLightingMode() const;

  /**
   \brief Virtual method for setting the wireframe mode of the object : visible
   or not \param wireframemode state
   */
  virtual void setWireFrameMode(const WireFrameMode& wireframe_state);

  virtual const WireFrameMode& getWireFrameMode() const {
    return selected_wireframe_;
  }

  /** Set scale value of the OSG object */
  void setScale(float scale) { setScale(osgVector3(scale, scale, scale)); }

  /** Set scales value of the OSG object */
  void setScale(const osgVector3& scale) { scale_.set(scale); }

  /** Get scale
   */
  osgVector3 getScale() const { return scale_.value; }

  /** Set the color of the object */
  virtual void setColor(const osgVector4& color) = 0;

  virtual osg::ref_ptr<osg::Node> getOsgNode() const;

  /**
   \brief Return the root node to include it in the scene
   */
  virtual ::osg::GroupRefPtr asGroup() const { return switch_node_ptr_; }

  virtual void addLandmark(const float& size);

  bool hasLandmark() const;

  ::osg::StateSetRefPtr getOrCreateRootStateSet() {
    return switch_node_ptr_->getOrCreateStateSet();
  }

  void deleteLandmark();

  bool getHighlightEnabled() const { return highlight_enabled_; }

  void setHighlightEnabled(bool enabled) {
    setHighlightState(0);
    highlight_enabled_ = enabled;
  }

  void setHighlightState(unsigned int state);

  const std::size_t& getHighlightState() const { return selected_highlight_; }

  /*Tools::ConfigurationPtr_t getConfiguration () const
  {
      Tools::ConfigurationPtr_t configuration =
  Tools::Configuration::create(toDefVector3(auto_transform_ptr_->getPosition()),toEigenQuat(auto_transform_ptr_->getRotation()));
      return configuration;
  }*/

  virtual void setAlpha(const float& alpha);
  virtual float getAlpha() const;

  void setTransparency(const float& transparency);
  float getTransparency() const;

  SCENE_VIEWER_ACCEPT_VISITOR;
  virtual void traverse(NodeVisitor& visitor);

  /* Destructor */
  virtual ~Node();

}; /* class Node */

} /* namespace viewer */
} /* namespace gepetto */

#endif /* dGEPETTO_VIEWER_NODE_HH */


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			//
2			// node.h
3			// gepetto-viewer
4			//
5			// Created by Justin Carpentier, Mathieu Geisert in November 2014.
6			// Copyright (c) 2014 LAAS-CNRS. All rights reserved.
7			//
8
9			#ifndef GEPETTO_VIEWER_NODE_HH
10			#define GEPETTO_VIEWER_NODE_HH
11
12			#include <gepetto/viewer/config-osg.h>
13			#include <gepetto/viewer/fwd.h>
14			#include <gepetto/viewer/node-property.h>
15			#include <gepetto/viewer/node-visitor.h>
16
17			#include <iostream>
18
19			namespace gepetto {
20			namespace viewer {
21
22			enum { VisibilityBit = 1 << 0, IntersectionBit = 1 << 1, NodeBit = 1 << 2 };
23
24			/// Abstract base class of 3D objects in a scene.
25			class Node : public Properties {
26			private:
27			friend struct NodeTest;
28
29			std::string id_name_; // automoatic id generated by the program
30			bool dirty_;
31
32			/** PositionAttitudeTransform related to the global configuration */
33			osg::MatrixTransformRefPtr transform_ptr_;
34			RangedStoredPropertyTpl<osgVector3, float> scale_;
35			osg::Matrixf Ms_;
36			StoredPropertyTpl<Configuration> M_;
37
38			/** Associated switch node */
39			/** TODO: The use of multiswitch may be better */
40			osg::GroupRefPtr switch_node_ptr_;
41			WireFrameMode selected_wireframe_;
42			std::vector< ::osg::GroupRefPtr> wireframe_modes_;
43
44			osg::GroupRefPtr hl_switch_node_ptr_;
45			std::size_t selected_highlight_;
46			bool highlight_enabled_;
47			std::vector< ::osg::GroupRefPtr> highlight_nodes_;
48
49			VisibilityMode visibilityMode_;
50			LightingMode lightingMode_;
51
52			/** Initialization function */
53			void init();
54
55			void updateTransform();
56
57			::osg::Group* setupHighlightState(unsigned int state);
58
59			protected:
60			/** protected because it's used in LeafNodeCapsule */
61			::osg::GeodeRefPtr landmark_geode_ptr_;
62
63			/** Geode pointer for landmarks */
64			::osg::GeodeRefPtr geode_ptr_;
65			/** Alpha value */
66			float alpha_;
67
68			/**
69			\brief Default constructor
70			*/
71			Node(const std::string& name);
72
73			/** Copy constructor */
74			Node(const Node& other);
75
76			/**
77			\brief Return the root node to include it in the scene
78			*/
79		3	::osg::GroupRefPtr asQueue() const { return transform_ptr_; }
80
81			void setID(const std::string& id_name) {
82			id_name_ = id_name;
83			switch_node_ptr_->setName(id_name_);
84			}
85
86			void setTransparentRenderingBin(bool transparent = true,
87			osg::StateSet* ss = NULL);
88
89			public:
90			static const float TransparencyRenderingBinThreshold;
91
92			/**
93			\brief returns rotation and position of the node
94			in word frame
95			*/
96			const Configuration& getGlobalTransform() const;
97
98			/**
99			\brief getID is a public method for getting the id_name of the Object
100			*/
101			std::string getID() const { return id_name_; }
102
103		3	bool isDirty() const { return dirty_; }
104
105		4	void setDirty(bool dirty = true) { dirty_ = dirty; }
106
107			/** Whether this node (and its children) can be selected from mouse.
108			*/
109			bool isSelectable() const {
110			return transform_ptr_->getNodeMask() & IntersectionBit;
111			}
112
113			/** Set whether this node (and its children) can be selected from mouse.
114			*/
115			void setSelectable(bool selectable = true);
116
117			/** Apply a new global configuration
118			*/
119		4	inline void applyConfiguration(const osgVector3& position,
120			const osgQuat& quat) {
121	✓✗	4	applyConfiguration(Configuration(position, quat));
122		4	}
123
124			/** Apply a new global configuration
125			*/
126		4	void applyConfiguration(const Configuration& cfg) { M_.set(cfg); }
127
128			/** Set Static transformation
129			*/
130			void setStaticTransform(const osgVector3& position, const osgQuat& quat);
131
132			/** Get Static rotation
133			*/
134			osgQuat getStaticRotation() const;
135
136			/** Get Static position
137			*/
138			osgVector3 getStaticPosition() const;
139
140			/**
141			\brief Virtual method for setting the visibility mode of the object : visible
142			or not visible \param visibilitymode state
143			*/
144			virtual void setVisibilityMode(const VisibilityMode& visibility_state);
145
146			virtual const VisibilityMode& getVisibilityMode() const {
147			return visibilityMode_;
148			}
149
150			/**
151			\brief Virtual method for setting the lighting mode of the object : influence
152			by light or not \param lightingmode state
153			*/
154			virtual void setLightingMode(const LightingMode& lighting_state);
155
156			virtual LightingMode getLightingMode() const;
157
158			/**
159			\brief Virtual method for setting the wireframe mode of the object : visible
160			or not \param wireframemode state
161			*/
162			virtual void setWireFrameMode(const WireFrameMode& wireframe_state);
163
164			virtual const WireFrameMode& getWireFrameMode() const {
165			return selected_wireframe_;
166			}
167
168			/** Set scale value of the OSG object */
169			void setScale(float scale) { setScale(osgVector3(scale, scale, scale)); }
170
171			/** Set scales value of the OSG object */
172			void setScale(const osgVector3& scale) { scale_.set(scale); }
173
174			/** Get scale
175			*/
176			osgVector3 getScale() const { return scale_.value; }
177
178			/** Set the color of the object */
179			virtual void setColor(const osgVector4& color) = 0;
180
181			virtual osg::ref_ptr<osg::Node> getOsgNode() const;
182
183			/**
184			\brief Return the root node to include it in the scene
185			*/
186			virtual ::osg::GroupRefPtr asGroup() const { return switch_node_ptr_; }
187
188			virtual void addLandmark(const float& size);
189
190			bool hasLandmark() const;
191
192			::osg::StateSetRefPtr getOrCreateRootStateSet() {
193			return switch_node_ptr_->getOrCreateStateSet();
194			}
195
196			void deleteLandmark();
197
198			bool getHighlightEnabled() const { return highlight_enabled_; }
199
200			void setHighlightEnabled(bool enabled) {
201			setHighlightState(0);
202			highlight_enabled_ = enabled;
203			}
204
205			void setHighlightState(unsigned int state);
206
207			const std::size_t& getHighlightState() const { return selected_highlight_; }
208
209			/*Tools::ConfigurationPtr_t getConfiguration () const
210			{
211			Tools::ConfigurationPtr_t configuration =
212			Tools::Configuration::create(toDefVector3(auto_transform_ptr_->getPosition()),toEigenQuat(auto_transform_ptr_->getRotation()));
213			return configuration;
214			}*/
215
216			virtual void setAlpha(const float& alpha);
217			virtual float getAlpha() const;
218
219			void setTransparency(const float& transparency);
220			float getTransparency() const;
221
222			SCENE_VIEWER_ACCEPT_VISITOR;
223			virtual void traverse(NodeVisitor& visitor);
224
225			/* Destructor */
226			virtual ~Node();
227
228			}; /* class Node */
229
230			} /* namespace viewer */
231			} /* namespace gepetto */
232
233			#endif /* dGEPETTO_VIEWER_NODE_HH */