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// |
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// roadmap-viewer.cpp |
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// gepetto-viewer |
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// |
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// Created by Pierre Fernbach in april 2015. |
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// Copyright (c) 2015 LAAS-CNRS. All rights reserved. |
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// |
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#include <gepetto/viewer/leaf-node-sphere.h> |
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#include <gepetto/viewer/roadmap-viewer.h> |
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#include <sstream> |
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namespace gepetto { |
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namespace viewer { |
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/* Declaration of private function members */ |
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RoadmapViewer::RoadmapViewer(const std::string& name, |
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const osgVector4& colorNode, float radiusSphere, |
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float sizeAxis, const osgVector4& colorEdge) |
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: Node(name), list_nodes_(), list_edges_() { |
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colorNode_ = osgVector4(colorNode); |
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colorEdge_ = osgVector4(colorEdge); |
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radiusSphere_ = radiusSphere; |
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sizeAxis_ = sizeAxis; |
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} |
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RoadmapViewer::RoadmapViewer(const RoadmapViewer& other) |
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: Node(other), list_nodes_(), list_edges_() { |
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size_t i; |
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for (i = 0; i < other.getNumOfNodes(); i++) { |
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LeafNodeXYZAxisPtr_t node = LeafNodeXYZAxis::createCopy(other.getNode(i)); |
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list_nodes_.push_back(node); |
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} |
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for (i = 0; i < other.getNumOfEdges(); i++) { |
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LeafNodeLinePtr_t edge = LeafNodeLine::createCopy(other.getEdge(i)); |
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list_edges_.push_back(edge); |
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} |
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colorNode_ = other.getColorNode(); |
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colorEdge_ = other.getColorEdge(); |
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sizeAxis_ = other.getSizeAxis(); |
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radiusSphere_ = other.getRadiusSphere(); |
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} |
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void RoadmapViewer::initWeakPtr(RoadmapViewerWeakPtr other_weak_ptr) { |
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weak_ptr_ = other_weak_ptr; |
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} |
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/* End of declaration of private function members */ |
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/* Declaration of public function members */ |
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RoadmapViewerPtr_t RoadmapViewer::create(const std::string& name, |
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const osgVector4& colorNode, |
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float radiusSphere, float sizeAxis, |
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const osgVector4& colorEdge) { |
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RoadmapViewerPtr_t shared_ptr( |
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new RoadmapViewer(name, colorNode, radiusSphere, sizeAxis, colorEdge)); |
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// Add reference to itself |
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shared_ptr->initWeakPtr(shared_ptr); |
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return shared_ptr; |
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} |
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RoadmapViewerPtr_t RoadmapViewer::createCopy(RoadmapViewerPtr_t other) { |
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RoadmapViewerPtr_t shared_ptr(new RoadmapViewer(*other)); |
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// Add reference to itself |
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shared_ptr->initWeakPtr(shared_ptr); |
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return shared_ptr; |
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} |
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RoadmapViewerPtr_t RoadmapViewer::clone(void) const { |
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return RoadmapViewer::createCopy(weak_ptr_.lock()); |
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} |
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RoadmapViewerPtr_t RoadmapViewer::self(void) const { return weak_ptr_.lock(); } |
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// ------------------------------------------- |
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bool RoadmapViewer::addNode(osgVector3 position, osgQuat quat, |
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OpenThreads::Mutex& mtx) { |
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std::stringstream msg; |
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msg << getID() << "_node" << list_nodes_.size(); |
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LeafNodeXYZAxisPtr_t node = |
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LeafNodeXYZAxis::create(msg.str(), colorNode_, radiusSphere_, sizeAxis_); |
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list_nodes_.push_back(node); |
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mtx.lock(); // need mutex (from windowsManager) : if we add graphical object |
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// during the call of osg::frame() we have a gepetto-viewer seg |
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// fault |
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node->applyConfiguration(position, quat); |
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this->asQueue()->addChild(node->asGroup()); |
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; |
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mtx.unlock(); |
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return true; |
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} |
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bool RoadmapViewer::addEdge(osgVector3 from, osgVector3 to, |
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OpenThreads::Mutex& mtx) { |
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std::stringstream msg; |
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msg << getID() << "_Edge" << list_edges_.size(); |
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LeafNodeLinePtr_t edge = |
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LeafNodeLine::create(msg.str(), from, to, colorEdge_); |
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list_edges_.push_back(edge); |
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mtx.lock(); |
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this->asQueue()->addChild(edge->asGroup()); |
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mtx.unlock(); |
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return true; |
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} |
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void RoadmapViewer::removeAllChildren() { |
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list_nodes_.clear(); |
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list_edges_.clear(); |
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this->asQueue()->removeChild(0, this->asQueue()->getNumChildren()); |
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} |
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void RoadmapViewer::setVisibilityMode(const VisibilityMode& visibility_state) { |
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Node::setVisibilityMode(visibility_state); |
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std::list<LeafNodeXYZAxisPtr_t>::iterator iter_list_of_nodes; |
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for (iter_list_of_nodes = list_nodes_.begin(); |
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iter_list_of_nodes != list_nodes_.end(); iter_list_of_nodes++) { |
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(*iter_list_of_nodes)->setVisibilityMode(visibility_state); |
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} |
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std::list<LeafNodeLinePtr_t>::iterator iter_list_of_edges; |
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for (iter_list_of_edges = list_edges_.begin(); |
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iter_list_of_edges != list_edges_.end(); iter_list_of_edges++) { |
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(*iter_list_of_edges)->setVisibilityMode(visibility_state); |
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} |
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} |
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void RoadmapViewer::setLightingMode(const LightingMode& lighting_state) { |
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Node::setLightingMode(lighting_state); |
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std::list<LeafNodeXYZAxisPtr_t>::iterator iter_list_of_nodes; |
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for (iter_list_of_nodes = list_nodes_.begin(); |
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iter_list_of_nodes != list_nodes_.end(); iter_list_of_nodes++) { |
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(*iter_list_of_nodes)->setLightingMode(lighting_state); |
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} |
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std::list<LeafNodeLinePtr_t>::iterator iter_list_of_edges; |
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for (iter_list_of_edges = list_edges_.begin(); |
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iter_list_of_edges != list_edges_.end(); iter_list_of_edges++) { |
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(*iter_list_of_edges)->setLightingMode(lighting_state); |
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} |
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} |
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void RoadmapViewer::setWireFrameMode(const WireFrameMode& wireframe_state) { |
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Node::setWireFrameMode(wireframe_state); |
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std::list<LeafNodeXYZAxisPtr_t>::iterator iter_list_of_nodes; |
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for (iter_list_of_nodes = list_nodes_.begin(); |
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iter_list_of_nodes != list_nodes_.end(); iter_list_of_nodes++) { |
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(*iter_list_of_nodes)->setWireFrameMode(wireframe_state); |
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} |
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std::list<LeafNodeLinePtr_t>::iterator iter_list_of_edges; |
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for (iter_list_of_edges = list_edges_.begin(); |
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iter_list_of_edges != list_edges_.end(); iter_list_of_edges++) { |
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(*iter_list_of_edges)->setWireFrameMode(wireframe_state); |
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} |
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} |
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void RoadmapViewer::setColorNode(const osgVector4& color) { |
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std::list<LeafNodeXYZAxisPtr_t>::iterator it; |
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for (it = list_nodes_.begin(); it != list_nodes_.end(); ++it) { |
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(*it)->setColor(color); |
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} |
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} |
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void RoadmapViewer::setColorEdge(const osgVector4& color) { |
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std::list<LeafNodeLinePtr_t>::iterator it; |
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for (it = list_edges_.begin(); it != list_edges_.end(); ++it) { |
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(*it)->setColor(color); |
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} |
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} |
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/* End of declaration of public function members */ |
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} /* namespace viewer */ |
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} // namespace gepetto |
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