PointCloudRepresentation.h
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// This file is a part of the OpenSurgSim project.
// Copyright 2013-2016, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_GRAPHICS_POINTCLOUDREPRESENTATION_H
#define SURGSIM_GRAPHICS_POINTCLOUDREPRESENTATION_H
#include <memory>
#include "SurgSim/DataStructures/EmptyData.h"
#include "SurgSim/DataStructures/Vertices.h"
#include "SurgSim/Framework/LockedContainer.h"
#include "SurgSim/Graphics/Representation.h"
#include "SurgSim/Math/MathConvert.h"
#include "SurgSim/Math/Vector.h"
namespace SurgSim
{
namespace Graphics
{
typedef SurgSim::DataStructures::Vertices<SurgSim::DataStructures::EmptyData> PointCloud;
class PointCloudRepresentation : public virtual Representation
{
public:
explicit PointCloudRepresentation(const std::string& name);
virtual ~PointCloudRepresentation();
virtual std::shared_ptr<PointCloud> getVertices() const = 0;
virtual void setPointSize(double val) = 0;
virtual double getPointSize() const = 0;
virtual void setColor(const SurgSim::Math::Vector4d& color) = 0;
virtual SurgSim::Math::Vector4d getColor() const = 0;
void updateVertices(const DataStructures::VerticesPlain& vertices);
void updateVertices(DataStructures::VerticesPlain&& vertices);
protected:
Framework::LockedContainer<DataStructures::VerticesPlain> m_locker;
};
}; // Graphics
}; // SurgSim
#endif // SURGSIM_GRAPHICS_POINTCLOUDREPRESENTATION_H
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Graphics::PointCloudRepresentation::~PointCloudRepresentation
virtual ~PointCloudRepresentation()
Definition: PointCloudRepresentation.cpp:38
Vertices.h
SurgSim::Graphics::PointCloudRepresentation::PointCloudRepresentation
PointCloudRepresentation(const std::string &name)
Constructor.
Definition: PointCloudRepresentation.cpp:25
SurgSim::Graphics::PointCloudRepresentation
Graphic representation of a point cloud, hase a very basic interface and is intentionally kept generi...
Definition: PointCloudRepresentation.h:36
LockedContainer.h
MathConvert.h
This contains a series of functions to encode and decode Eigen data structures to and from YAML nodes...
SurgSim::Graphics::PointCloudRepresentation::m_locker
Framework::LockedContainer< DataStructures::VerticesPlain > m_locker
Definition: PointCloudRepresentation.h:73
Representation.h
SurgSim::Graphics::PointCloudRepresentation::setColor
virtual void setColor(const SurgSim::Math::Vector4d &color)=0
Sets a color for all of the points together.
SurgSim::Graphics::PointCloudRepresentation::getColor
virtual SurgSim::Math::Vector4d getColor() const =0
Gets the color.
SurgSim::Graphics::Representation
Base graphics representation class, which defines the interface that all graphics representations mus...
Definition: Representation.h:39
SurgSim::Graphics::PointCloudRepresentation::updateVertices
void updateVertices(const DataStructures::VerticesPlain &vertices)
Definition: PointCloudRepresentation.cpp:42
Vector.h
Definitions of small fixed-size vector types.
SurgSim::Framework::LockedContainer
A simple thread-safe data container that can support multiple writers and readers.
Definition: LockedContainer.h:54
SurgSim::Graphics::PointCloudRepresentation::setPointSize
virtual void setPointSize(double val)=0
Sets point size for the point elements.
SurgSim::Graphics::PointCloudRepresentation::getPointSize
virtual double getPointSize() const =0
Gets point size.
SurgSim::Graphics::PointCloud
SurgSim::DataStructures::Vertices< SurgSim::DataStructures::EmptyData > PointCloud
Definition: PointCloudRepresentation.h:33
SurgSim::Math::Vector4d
Eigen::Matrix< double, 4, 1 > Vector4d
A 4D vector of doubles.
Definition: Vector.h:61
SurgSim::DataStructures::Vertices< SurgSim::DataStructures::EmptyData >
SurgSim::Graphics::PointCloudRepresentation::getVertices
virtual std::shared_ptr< PointCloud > getVertices() const =0
Pull the vertices.
EmptyData.h