roadmap-viewer.h

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//
//  roadmap-viewer.h
//  gepetto-viewer
//
//  Created by Pierre Fernbach in april 2015.
//  Copyright (c) 2015 LAAS-CNRS. All rights reserved.
//
 
#ifndef GEPETTO_VIEWER_ROADMAPVIEWER_HH
#define GEPETTO_VIEWER_ROADMAPVIEWER_HH
 
#include <gepetto/viewer/group-node.h>
#include <gepetto/viewer/leaf-node-line.h>
#include <gepetto/viewer/leaf-node-xyzaxis.h>
#include <gepetto/viewer/node.h>
 
#include <OpenThreads/Mutex>
 
namespace gepetto {
namespace viewer {
 
DEF_CLASS_SMART_PTR(RoadmapViewer)
 
class RoadmapViewer : public Node {
 private:
  std::list<LeafNodeXYZAxisPtr_t> list_nodes_;
  std::list<LeafNodeLinePtr_t> list_edges_;
 
  RoadmapViewerWeakPtr weak_ptr_;
  // ---
  float radiusSphere_;
  float sizeAxis_;
  osgVector4 colorNode_;
  osgVector4 colorEdge_;
  void initWeakPtr(RoadmapViewerWeakPtr other_weak_ptr);
 
 protected:
  RoadmapViewer(const std::string& name, const osgVector4& colorNode,
                float radiusSphere, float sizeAxis,
                const osgVector4& colorEdge);
 
  RoadmapViewer(const RoadmapViewer& other);
 
 public:
  static RoadmapViewerPtr_t create(const std::string& name,
                                   const osgVector4& colorNode,
                                   float radiusSphere, float sizeAxis,
                                   const osgVector4& colorEdge);
 
  static RoadmapViewerPtr_t createCopy(RoadmapViewerPtr_t other);
 
  virtual RoadmapViewerPtr_t clone(void) const;
 
  RoadmapViewerPtr_t self(void) const;
 
  bool addNode(osgVector3 position, osgQuat quat, ::OpenThreads::Mutex& mtx);
 
  bool addEdge(osgVector3 from, osgVector3 to, ::OpenThreads::Mutex& mtx);
 
  virtual void removeAllChildren();
 
  virtual void setVisibilityMode(const VisibilityMode& visibility_state);
 
  virtual void setLightingMode(const LightingMode& lighting_state);
 
  virtual void setWireFrameMode(const WireFrameMode& wireframe_state);
 
  virtual size_t getNumOfNodes() const { return list_nodes_.size(); }
 
  virtual size_t getNumOfEdges() const { return list_edges_.size(); }
 
  virtual LeafNodeXYZAxisPtr_t getNode(size_t i) const {
    std::list<LeafNodeXYZAxisPtr_t>::const_iterator it = list_nodes_.begin();
    if (list_nodes_.size() > i) {
      std::advance(it, (long)i);
    }
    return *it;
  }
 
  virtual LeafNodeLinePtr_t getEdge(size_t i) const {
    std::list<LeafNodeLinePtr_t>::const_iterator it = list_edges_.begin();
    if (list_edges_.size() > i) {
      std::advance(it, (long)i);
    }
    return *it;
  }
 
  virtual float getRadiusSphere() const { return radiusSphere_; }
 
  virtual float getSizeAxis() const { return sizeAxis_; }
 
  virtual osgVector4 getColorNode() const { return colorNode_; }
 
  virtual osgVector4 getColorEdge() const { return colorEdge_; }
 
  void setColorNode(const osgVector4& color);
 
  void setColorEdge(const osgVector4& color);
 
  void setColor(const osgVector4& color) { setColorEdge(color); }
 
};  // class
 
} /* namespace viewer */
} /* namespace gepetto */
 
#endif