9 #ifndef opengl_CGeneralizedCylinder_H 10 #define opengl_CGeneralizedCylinder_H 39 void calculateNormal();
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);
192 void getOrigin(CPolyhedronPtr &poly)
const;
197 void getEnd(CPolyhedronPtr &poly)
const;
202 void generateSetOfPolygons(std::vector<mrpt::math::TPolygon3D> &res)
const;
207 void getClosedSection(
size_t index1,
size_t index2,CPolyhedronPtr &poly)
const;
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");
291 void removeVisibleSectionAtStart();
297 void removeVisibleSectionAtEnd();
317 void updatePolys()
const;
330 void updateMesh()
const;
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);
void setAllSectionsVisible()
Sets all sections visible.
void getGeneratrix(std::vector< mrpt::math::TPoint3D > &g) const
Get cylinder's profile.
EIGEN_STRONG_INLINE iterator end()
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
void setClosed(bool c=true)
Set whether each section is a closed polygon or not.
~TQuadrilateral()
Destructor.
bool fullyVisible
Flag to determine whether the object is fully visible or only some sections are.
EIGEN_STRONG_INLINE iterator begin()
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
void addVisibleSectionAtStart()
Adds another visible section at the start of the cylinder.
std::vector< TQuadrilateral > mesh
Mutable object with mesh information, used to avoid repeated computations.
const Scalar * const_iterator
bool meshUpToDate
Mutable flag which tells if recalculations are needed.
CGeneralizedCylinder(const std::vector< mrpt::math::TPoint3D > &a, const std::vector< mrpt::math::TPoint3D > &g)
Constructor with axis and generatrix.
virtual ~CGeneralizedCylinder()
Destructor.
A renderizable object suitable for rendering with OpenGL's display lists.
size_t getVisibleSections() const
Get how many visible sections are in the cylinder.
bool closed
Boolean variable which determines if the profile is closed at each section.
#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 setVisibleSections(size_t first, size_t last)
Sets which sections are visible.
void setGeneratrix(const std::vector< mrpt::math::TPoint3D > &g)
Set cylinder's profile.
size_t getNumberOfSections() const
Get the number of sections in this cylinder.
void setAllSectionsInvisible(size_t pointer=0)
Hides all sections.
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.
bool polysUpToDate
Mutable flag telling whether ray tracing temporary data must be recalculated or not.
void setAxis(const std::vector< mrpt::math::TPoint3D > &a)
Set the axis points.
bool BASE_IMPEXP traceRay(const vector< TPolygonWithPlane > &vec, const mrpt::poses::CPose3D &pose, double &dist)
Fast ray tracing method using polygons' properties.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
size_t lastSection
Last visible section, if fullyVisible is set to false.
void getClosedSection(size_t index, CPolyhedronPtr &poly) const
Get a polyhedron consisting of a single section of the cylinder.
This object represents any figure obtained by extruding any profile along a given axis...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
std::vector< mrpt::math::TPoint3D > generatrix
Object's generatrix, that is, profile which will be extruded.
TQuadrilateral(const T(&p)[4])
Construction from any array of four compatible objects.
bool isClosed() const
Returns true if each section is a closed polygon.
void getAxis(mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t &a) const
Get axis, including angular coordinates.
void getAsPolygonUnsafe(mrpt::math::TPolygon3D &vec) const
Given a polygon with 4 already positions allocated, this method fills it with the quadrilateral point...
mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t axis
Cylinder's axis.
CGeneralizedCylinder()
Basic constructor with default initialization.
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.
Auxiliary struct holding any quadrilateral, represented by foour points.
TQuadrilateral()
Empty constructor.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
void addVisibleSectionAtEnd()
Adds another visible section at the end of the cylinder.
std::vector< TYPE1, Eigen::aligned_allocator< TYPE1 > > vector_t
3D polygon, inheriting from std::vector<TPoint3D>
size_t firstSection
First visible section, if fullyVisible is set to false.
void getVisibleSections(size_t &first, size_t &last) const
Gets the cylinder's visible sections.