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mrpt::opengl::CPlanarLaserScan Class Reference

This object renders a 2D laser scan by means of three elements: the points, the line along end-points and the 2D scanned surface. More...

#include <mrpt/opengl/CPlanarLaserScan.h>

Inheritance diagram for mrpt::opengl::CPlanarLaserScan:

mrpt::opengl::CRenderizable mrpt::utils::CSerializable

List of all members.

Public Member Functions

void clear ()
 < Clear the scan
void setLineWidth (float w)
float getLineWidth () const
void sePointsWidth (float w)
void setLineColor (float R, float G, float B, float A=1.0f)
void setPointsColor (float R, float G, float B, float A=1.0f)
void setSurfaceColor (float R, float G, float B, float A=1.0f)
void setScan (const mrpt::slam::CObservation2DRangeScan &scan)
void render () const
 Render.

Static Public Member Functions

static CPlanarLaserScanPtr Create ()
 Class factory.

Public Attributes

bool m_enable_points
bool m_enable_line
bool m_enable_surface

Protected Attributes

mrpt::slam::CObservation2DRangeScan m_scan
mrpt::slam::CSimplePointsMap m_cache_points
bool m_cache_valid
float m_line_width
float m_line_R
float m_line_G
float m_line_B
float m_line_A
float m_points_width
float m_points_R
float m_points_G
float m_points_B
float m_points_A
float m_plane_R
float m_plane_G
float m_plane_B
float m_plane_A

Private Member Functions

 CPlanarLaserScan ()
 Constructor.
virtual ~CPlanarLaserScan ()
 Private, virtual destructor: only can be deleted from smart pointers.


Detailed Description

This object renders a 2D laser scan by means of three elements: the points, the line along end-points and the 2D scanned surface.

You can change the public members :

Note:
The laser points are projected at the sensor pose as given in the "scan" object, so this CPlanarLaserScan object should be placed at the exact pose of the robot coordinates origin.
See also:
mrpt::opengl::CPointCloud, opengl::COpenGLScene

Definition at line 61 of file CPlanarLaserScan.h.


Constructor & Destructor Documentation

mrpt::opengl::CPlanarLaserScan::CPlanarLaserScan (  )  [private]

Constructor.

virtual mrpt::opengl::CPlanarLaserScan::~CPlanarLaserScan (  )  [inline, private, virtual]

Private, virtual destructor: only can be deleted from smart pointers.

Definition at line 134 of file CPlanarLaserScan.h.


Member Function Documentation

void mrpt::opengl::CPlanarLaserScan::clear (  ) 

< Clear the scan

static CPlanarLaserScanPtr mrpt::opengl::CPlanarLaserScan::Create (  )  [inline, static]

Class factory.

Definition at line 119 of file CPlanarLaserScan.h.

References mrpt::opengl::CPlanarLaserScan.

float mrpt::opengl::CPlanarLaserScan::getLineWidth (  )  const [inline]

Definition at line 86 of file CPlanarLaserScan.h.

void mrpt::opengl::CPlanarLaserScan::render (  )  const [virtual]

Render.

Implements mrpt::opengl::CRenderizable.

void mrpt::opengl::CPlanarLaserScan::sePointsWidth ( float  w  )  [inline]

Definition at line 88 of file CPlanarLaserScan.h.

void mrpt::opengl::CPlanarLaserScan::setLineColor ( float  R,
float  G,
float  B,
float  A = 1.0f 
) [inline]

Definition at line 90 of file CPlanarLaserScan.h.

void mrpt::opengl::CPlanarLaserScan::setLineWidth ( float  w  )  [inline]

Definition at line 85 of file CPlanarLaserScan.h.

void mrpt::opengl::CPlanarLaserScan::setPointsColor ( float  R,
float  G,
float  B,
float  A = 1.0f 
) [inline]

Definition at line 97 of file CPlanarLaserScan.h.

void mrpt::opengl::CPlanarLaserScan::setScan ( const mrpt::slam::CObservation2DRangeScan scan  )  [inline]

Definition at line 112 of file CPlanarLaserScan.h.

void mrpt::opengl::CPlanarLaserScan::setSurfaceColor ( float  R,
float  G,
float  B,
float  A = 1.0f 
) [inline]

Definition at line 104 of file CPlanarLaserScan.h.


Member Data Documentation

Definition at line 66 of file CPlanarLaserScan.h.

Definition at line 67 of file CPlanarLaserScan.h.

Definition at line 82 of file CPlanarLaserScan.h.

Definition at line 81 of file CPlanarLaserScan.h.

Definition at line 83 of file CPlanarLaserScan.h.

Definition at line 71 of file CPlanarLaserScan.h.

Definition at line 71 of file CPlanarLaserScan.h.

Definition at line 71 of file CPlanarLaserScan.h.

Definition at line 71 of file CPlanarLaserScan.h.

Definition at line 70 of file CPlanarLaserScan.h.

Definition at line 76 of file CPlanarLaserScan.h.

Definition at line 76 of file CPlanarLaserScan.h.

Definition at line 76 of file CPlanarLaserScan.h.

Definition at line 76 of file CPlanarLaserScan.h.

Definition at line 74 of file CPlanarLaserScan.h.

Definition at line 74 of file CPlanarLaserScan.h.

Definition at line 74 of file CPlanarLaserScan.h.

Definition at line 74 of file CPlanarLaserScan.h.

Definition at line 73 of file CPlanarLaserScan.h.

Definition at line 65 of file CPlanarLaserScan.h.




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