CPlanarLaserScan()=default
void notifyChange() const
Call to enable calling renderUpdateBuffers() before the next render() rendering iteration.
void enableLine(bool enable=true)
Show or hides lines along all scanned points.
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
void renderUpdateBuffers() const override
Called whenever m_outdatedBuffers is true: used to re-generate OpenGL vertex buffers,...
void render(const RenderContext &rc) const override
Implements the rendering of 3D objects in each class derived from CRenderizable.
Renderizable generic renderer for objects using the wireframe shader.
void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const override
Evaluates the bounding box of this object (including possible children) in the coordinate frame of th...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
mrpt::obs::CObservation2DRangeScan m_scan
void freeOpenGLResources() override
Free opengl buffers.
void onUpdateBuffers_Points() override
Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" f...
void setScan(const mrpt::obs::CObservation2DRangeScan &scan)
void freeOpenGLResources() override
Free opengl buffers.
void setPointsColor(float R, float G, float B, float A=1.0f)
void onUpdateBuffers_Triangles() override
Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" f...
static constexpr shader_id_t WIREFRAME
static constexpr shader_id_t TRIANGLES
void enableSurface(bool enable=true)
Show or hides the scanned area as a 2D surface.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
Context for calls to render()
mrpt::math::TPoint3Df getLocalRepresentativePoint() const override
Provide a representative point (in object local coordinates), used to sort objects by eye-distance wh...
void freeOpenGLResources() override
Free opengl buffers.
void freeOpenGLResources() override
Free opengl buffers.
virtual shader_list_t requiredShaders() const override
Returns the ID of the OpenGL shader program required to render this class.
void setSurfaceColor(float R, float G, float B, float A=1.0f)
void setLineColor(float R, float G, float B, float A=1.0f)
void onUpdateBuffers_Wireframe() override
Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" f...
mrpt::maps::CSimplePointsMap m_cache_points
Renderizable generic renderer for objects using the points shader.
std::vector< shader_id_t > shader_list_t
A list of shader IDs.
Renderizable generic renderer for objects using the triangles shader.
void clear()
Clear the scan.
~CPlanarLaserScan() override=default
void enablePoints(bool enable=true)
Show or hides the scanned points.
The namespace for 3D scene representation and rendering.
static constexpr shader_id_t POINTS
This object renders a 2D laser scan by means of three elements: the points, the line along end-points...
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