1 |
|
|
// |
2 |
|
|
// roadmap-viewer.h |
3 |
|
|
// gepetto-viewer |
4 |
|
|
// |
5 |
|
|
// Created by Pierre Fernbach in april 2015. |
6 |
|
|
// Copyright (c) 2015 LAAS-CNRS. All rights reserved. |
7 |
|
|
// |
8 |
|
|
|
9 |
|
|
#ifndef GEPETTO_VIEWER_ROADMAPVIEWER_HH |
10 |
|
|
#define GEPETTO_VIEWER_ROADMAPVIEWER_HH |
11 |
|
|
|
12 |
|
|
#include <gepetto/viewer/group-node.h> |
13 |
|
|
#include <gepetto/viewer/leaf-node-line.h> |
14 |
|
|
#include <gepetto/viewer/leaf-node-xyzaxis.h> |
15 |
|
|
#include <gepetto/viewer/node.h> |
16 |
|
|
|
17 |
|
|
#include <OpenThreads/Mutex> |
18 |
|
|
|
19 |
|
|
namespace gepetto { |
20 |
|
|
namespace viewer { |
21 |
|
|
|
22 |
|
|
DEF_CLASS_SMART_PTR(RoadmapViewer) |
23 |
|
|
|
24 |
|
|
class RoadmapViewer : public Node { |
25 |
|
|
private: |
26 |
|
|
/** |
27 |
|
|
\brief List of all child graphical object |
28 |
|
|
*/ |
29 |
|
|
std::list<LeafNodeXYZAxisPtr_t> list_nodes_; |
30 |
|
|
std::list<LeafNodeLinePtr_t> list_edges_; |
31 |
|
|
|
32 |
|
|
/** Associated weak pointer */ |
33 |
|
|
RoadmapViewerWeakPtr weak_ptr_; |
34 |
|
|
// --- |
35 |
|
|
float radiusSphere_; |
36 |
|
|
float sizeAxis_; |
37 |
|
|
osgVector4 colorNode_; |
38 |
|
|
osgVector4 colorEdge_; |
39 |
|
|
/** Initialize weak_ptr */ |
40 |
|
|
void initWeakPtr(RoadmapViewerWeakPtr other_weak_ptr); |
41 |
|
|
|
42 |
|
|
protected: |
43 |
|
|
/** |
44 |
|
|
\brief Default constructor |
45 |
|
|
*/ |
46 |
|
|
RoadmapViewer(const std::string& name, const osgVector4& colorNode, |
47 |
|
|
float radiusSphere, float sizeAxis, |
48 |
|
|
const osgVector4& colorEdge); |
49 |
|
|
|
50 |
|
|
/** Copy constructor */ |
51 |
|
|
RoadmapViewer(const RoadmapViewer& other); |
52 |
|
|
|
53 |
|
|
public: |
54 |
|
|
/** Static method which create a new box defined by the half_axis vector |
55 |
|
|
*/ |
56 |
|
|
static RoadmapViewerPtr_t create(const std::string& name, |
57 |
|
|
const osgVector4& colorNode, |
58 |
|
|
float radiusSphere, float sizeAxis, |
59 |
|
|
const osgVector4& colorEdge); |
60 |
|
|
|
61 |
|
|
/** Static method for creating a clone of box other with the copy constructor |
62 |
|
|
*/ |
63 |
|
|
static RoadmapViewerPtr_t createCopy(RoadmapViewerPtr_t other); |
64 |
|
|
|
65 |
|
|
/** Proceed to a clonage of the current object defined by the copy constructor |
66 |
|
|
*/ |
67 |
|
|
virtual RoadmapViewerPtr_t clone(void) const; |
68 |
|
|
|
69 |
|
|
/** Return a shared pointer of the current object |
70 |
|
|
*/ |
71 |
|
|
RoadmapViewerPtr_t self(void) const; |
72 |
|
|
|
73 |
|
|
bool addNode(osgVector3 position, osgQuat quat, ::OpenThreads::Mutex& mtx); |
74 |
|
|
|
75 |
|
|
bool addEdge(osgVector3 from, osgVector3 to, ::OpenThreads::Mutex& mtx); |
76 |
|
|
|
77 |
|
|
virtual void removeAllChildren(); |
78 |
|
|
|
79 |
|
|
/** |
80 |
|
|
\brief Virtual method for setting the visibility mode of the object : visible |
81 |
|
|
or not visible \param visibilitymode state |
82 |
|
|
*/ |
83 |
|
|
virtual void setVisibilityMode(const VisibilityMode& visibility_state); |
84 |
|
|
|
85 |
|
|
/** |
86 |
|
|
\brief Virtual method for setting the lighting mode of the object : influence |
87 |
|
|
by light or not \param lightingmode state |
88 |
|
|
*/ |
89 |
|
|
virtual void setLightingMode(const LightingMode& lighting_state); |
90 |
|
|
|
91 |
|
|
/** |
92 |
|
|
\brief Virtual method for setting the wireframe mode of the object : visible |
93 |
|
|
or not \param wireframemode state |
94 |
|
|
*/ |
95 |
|
|
virtual void setWireFrameMode(const WireFrameMode& wireframe_state); |
96 |
|
|
|
97 |
|
|
virtual size_t getNumOfNodes() const { return list_nodes_.size(); } |
98 |
|
|
|
99 |
|
|
virtual size_t getNumOfEdges() const { return list_edges_.size(); } |
100 |
|
|
|
101 |
|
|
virtual LeafNodeXYZAxisPtr_t getNode(size_t i) const { |
102 |
|
|
std::list<LeafNodeXYZAxisPtr_t>::const_iterator it = list_nodes_.begin(); |
103 |
|
|
if (list_nodes_.size() > i) { |
104 |
|
|
std::advance(it, (long)i); |
105 |
|
|
} |
106 |
|
|
return *it; |
107 |
|
|
} |
108 |
|
|
|
109 |
|
|
virtual LeafNodeLinePtr_t getEdge(size_t i) const { |
110 |
|
|
std::list<LeafNodeLinePtr_t>::const_iterator it = list_edges_.begin(); |
111 |
|
|
if (list_edges_.size() > i) { |
112 |
|
|
std::advance(it, (long)i); |
113 |
|
|
} |
114 |
|
|
return *it; |
115 |
|
|
} |
116 |
|
|
|
117 |
|
|
virtual float getRadiusSphere() const { return radiusSphere_; } |
118 |
|
|
|
119 |
|
|
virtual float getSizeAxis() const { return sizeAxis_; } |
120 |
|
|
|
121 |
|
|
virtual osgVector4 getColorNode() const { return colorNode_; } |
122 |
|
|
|
123 |
|
|
virtual osgVector4 getColorEdge() const { return colorEdge_; } |
124 |
|
|
|
125 |
|
|
void setColorNode(const osgVector4& color); |
126 |
|
|
|
127 |
|
|
void setColorEdge(const osgVector4& color); |
128 |
|
|
|
129 |
|
|
void setColor(const osgVector4& color) { setColorEdge(color); } |
130 |
|
|
|
131 |
|
|
}; // class |
132 |
|
|
|
133 |
|
|
} /* namespace viewer */ |
134 |
|
|
} /* namespace gepetto */ |
135 |
|
|
|
136 |
|
|
#endif |