00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2008 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef opengl_CDisk_H 00029 #define opengl_CDisk_H 00030 00031 #include <mrpt/opengl/CRenderizable.h> 00032 #include <mrpt/poses/CPose3D.h> 00033 00034 namespace mrpt 00035 { 00036 namespace opengl 00037 { 00038 class MRPTDLLIMPEXP CDisk; 00039 00040 // This must be added to any CSerializable derived class: 00041 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CDisk, CRenderizable ) 00042 00043 00046 class MRPTDLLIMPEXP CDisk : public CRenderizable 00047 { 00048 DEFINE_SERIALIZABLE( CDisk ) 00049 00050 protected: 00051 float m_radiusIn,m_radiusOut; 00052 uint32_t m_nSlices, m_nLoops; 00053 00054 public: 00055 void setDiskRadius(float outRadius, float inRadius=0) { m_radiusIn=inRadius; m_radiusOut=outRadius; } 00056 00057 float getInRadius() const { return m_radiusIn; } 00058 float getOutRadius() const { return m_radiusOut; } 00059 00060 void setSlicesCount(uint32_t N) { m_nSlices=N; } 00061 void setLoopsCount(uint32_t N) { m_nLoops=N; } 00062 00063 00065 static CDiskPtr Create() 00066 { 00067 return CDiskPtr( new CDisk() ); 00068 } 00069 00072 void render() const; 00073 00076 virtual bool traceRay(const mrpt::poses::CPose3D &o,float &dist) const; 00077 00078 private: 00081 CDisk( ) : 00082 m_radiusIn(0), 00083 m_radiusOut(1), 00084 m_nSlices(50), 00085 m_nLoops(4) 00086 { 00087 } 00089 virtual ~CDisk() { } 00090 }; 00091 00092 } // end namespace 00093 00094 } // End of namespace 00095 00096 00097 #endif
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