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9 #ifndef opengl_CGeneralizedCylinder_H
10 #define opengl_CGeneralizedCylinder_H
73 for (
int i=0;i<4;i++) points[i]=p[i];
91 mutable std::vector<TQuadrilateral>
mesh;
100 mutable std::vector<mrpt::math::TPolygonWithPlane>
polys;
121 static CGeneralizedCylinderPtr
Create(
const std::vector<mrpt::math::TPoint3D> &axis,
const std::vector<mrpt::math::TPoint3D> &generatrix);
135 inline
void getAxis(std::vector<
mrpt::math::TPoint3D> &a)
const {
137 size_t N=axis.size();
139 for (
size_t i=0;i<N;i++) {
154 inline void setAxis(
const std::vector<mrpt::math::TPoint3D> &a) {
155 generatePoses(a,axis);
213 getClosedSection(index,index,poly);
219 return axis.size()?(axis.size()-1):0;
225 return fullyVisible?getNumberOfSections():(lastSection-firstSection);
233 last=getNumberOfSections();
251 firstSection=pointer;
261 if (first>last||last>getNumberOfSections())
throw std::logic_error(
"Wrong bound definition");
272 if (fullyVisible||firstSection==0)
throw std::logic_error(
"No more sections");
282 if (fullyVisible||lastSection==getNumberOfSections())
throw std::logic_error(
"No more sections");
338 CGeneralizedCylinder():axis(),generatrix(),mesh(),meshUpToDate(false),polysUpToDate(false),closed(false),fullyVisible(true) {}
342 CGeneralizedCylinder(
const std::vector<mrpt::math::TPoint3D> &a,
const std::vector<mrpt::math::TPoint3D> &g):generatrix(g),mesh(),meshUpToDate(false),polysUpToDate(false),closed(false),fullyVisible(true) {
343 generatePoses(a,axis);
EIGEN_STRONG_INLINE iterator begin()
void getOrigin(CPolyhedronPtr &poly) const
Get a polyhedron containing the starting point of the cylinder (its "base").
const Scalar * const_iterator
bool fullyVisible
Flag to determine whether the object is fully visible or only some sections are.
class OPENGL_IMPEXP CGeneralizedCylinder
bool meshUpToDate
Mutable flag which tells if recalculations are needed.
bool getFirstVisibleSectionPose(mrpt::poses::CPose3D &p)
Gets the axis pose of the first visible section, returning false if there is no such pose.
A renderizable object suitable for rendering with OpenGL's display lists.
void getAxis(mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t &a) const
Get axis, including angular coordinates.
void updatePolys() const
Updates the mutable set of polygons used in ray tracing.
void getClosedSection(size_t index1, size_t index2, CPolyhedronPtr &poly) const
Get a polyhedron consisting of a set of closed sections of the cylinder.
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated)
EIGEN_STRONG_INLINE iterator end()
void generatePoses(const std::vector< mrpt::math::TPoint3D > &pIn, mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t &pOut)
Updates the axis, transforming each point into a pose pointing to the next section.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
bool polysUpToDate
Mutable flag telling whether ray tracing temporary data must be recalculated or not.
void addVisibleSectionAtStart()
Adds another visible section at the start of the cylinder.
void setAxis(const std::vector< mrpt::math::TPoint3D > &a)
Set the axis points.
void getClosedSection(size_t index, CPolyhedronPtr &poly) const
Get a polyhedron consisting of a single section of the cylinder.
bool getLastSectionPose(mrpt::poses::CPose3D &p)
Gets the axis pose of the last section, returning false if there is no such pose.
size_t lastSection
Last visible section, if fullyVisible is set to false.
void setGeneratrix(const std::vector< mrpt::math::TPoint3D > &g)
Set cylinder's profile.
CGeneralizedCylinder(const std::vector< mrpt::math::TPoint3D > &a, const std::vector< mrpt::math::TPoint3D > &g)
Constructor with axis and generatrix.
void render_dl() const MRPT_OVERRIDE
Render.
static CGeneralizedCylinderPtr Create(const std::vector< mrpt::math::TPoint3D > &axis, const std::vector< mrpt::math::TPoint3D > &generatrix)
Creation of generalized cylinder from axis and generatrix.
void generateSetOfPolygons(std::vector< mrpt::math::TPolygon3D > &res) const
Get the cylinder as a set of polygons in 3D.
void setClosed(bool c=true)
Set whether each section is a closed polygon or not.
virtual ~CGeneralizedCylinder()
Destructor.
void getAsPolygonUnsafe(mrpt::math::TPolygon3D &vec) const
Given a polygon with 4 already positions allocated, this method fills it with the quadrilateral point...
~TQuadrilateral()
Destructor.
void removeVisibleSectionAtStart()
Removes a visible section from the start of the currently visible set.
bool closed
Boolean variable which determines if the profile is closed at each section.
Auxiliary struct holding any quadrilateral, represented by foour points.
void calculateNormal()
Automatically compute a vector normal to this quadrilateral.
TQuadrilateral(const T(&p)[4])
Construction from any array of four compatible objects.
void getGeneratrix(std::vector< mrpt::math::TPoint3D > &g) const
Get cylinder's profile.
std::vector< TQuadrilateral > mesh
Mutable object with mesh information, used to avoid repeated computations.
void updateMesh() const
Updates the mutable mesh.
mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t axis
Cylinder's axis.
CGeneralizedCylinder()
Basic constructor with default initialization.
bool getLastVisibleSectionPose(mrpt::poses::CPose3D &p)
Gets the axis pose of the last section, returning false if there is no such pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
This object represents any figure obtained by extruding any profile along a given axis.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
void setAllSectionsInvisible(size_t pointer=0)
Hides all sections.
void getVisibleSections(size_t &first, size_t &last) const
Gets the cylinder's visible sections.
3D polygon, inheriting from std::vector<TPoint3D>
std::vector< mrpt::math::TPoint3D > generatrix
Object's generatrix, that is, profile which will be extruded.
void removeVisibleSectionAtEnd()
Removes a visible section from the ending of the currently visible set.
void setVisibleSections(size_t first, size_t last)
Sets which sections are visible.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
void getMeshIterators(const std::vector< TQuadrilateral > &m, std::vector< TQuadrilateral >::const_iterator &begin, std::vector< TQuadrilateral >::const_iterator &end) const
Given a vector of polyhedrons, gets the starting and ending iterators to the section to be actually r...
TQuadrilateral(const mrpt::math::TPoint3D &p1, const mrpt::math::TPoint3D &p2, const mrpt::math::TPoint3D &p3, const mrpt::math::TPoint3D &p4)
Constructor from 4 points.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
size_t getVisibleSections() const
Get how many visible sections are in the cylinder.
void getEnd(CPolyhedronPtr &poly) const
Get a polyhedron containing the ending point of the cylinder (its "base").
void addVisibleSectionAtEnd()
Adds another visible section at the end of the cylinder.
mrpt::math::CMatrixTemplate< mrpt::math::TPoint3D > pointsMesh
Mutable object with the cylinder's points, used to avoid repeated computations.
std::vector< mrpt::math::TPolygonWithPlane > polys
Mutable set of data used in ray tracing.
TQuadrilateral()
Empty constructor.
bool BASE_IMPEXP traceRay(const vector< TPolygonWithPlane > &vec, const mrpt::poses::CPose3D &pose, double &dist)
Fast ray tracing method using polygons' properties.
size_t getNumberOfSections() const
Get the number of sections in this cylinder.
size_t firstSection
First visible section, if fullyVisible is set to false.
bool isClosed() const
Returns true if each section is a closed polygon.
bool getFirstSectionPose(mrpt::poses::CPose3D &p)
Gets the axis pose of the first section, returning false if there is no such pose.
std::vector< TYPE1, Eigen::aligned_allocator< TYPE1 > > vector_t
void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE
Evaluates the bounding box of this object (including possible children) in the coordinate frame of th...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
void setAllSectionsVisible()
Sets all sections visible.
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