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10 #ifndef opengl_CVectorField3D_H
11 #define opengl_CVectorField3D_H
17 #include <Eigen/Dense>
73 x_vf.resize(0,0); y_vf.resize(0,0); z_vf.resize(0,0);
74 x_p.resize(0,0); y_p.resize(0,0); z_p.resize(0,0);
82 inline void setPointColor(
const float R,
const float G,
const float B,
const float A = 1)
107 Cmin = m_still_color/255;
108 Cmax = m_maxspeed_color/255;
114 inline void setMotionFieldColormap(
const float Rmin,
const float Gmin,
const float Bmin,
const float Rmax,
const float Gmax,
const float Bmax,
const float Amin = 1,
const float Amax = 1)
165 void getVectorField(Eigen::MatrixXf &Matrix_x, Eigen::MatrixXf &Matrix_y, Eigen::MatrixXf &Matrix_z)
const {
180 void getPointCoordinates(Eigen::MatrixXf &Coord_x, Eigen::MatrixXf &Coord_y, Eigen::MatrixXf &Coord_z)
const {
205 ASSERT_((Matrix_x.getRowCount() == Matrix_y.getRowCount())&&(Matrix_x.getRowCount() == Matrix_z.getRowCount()))
206 ASSERT_((Matrix_x.getColCount() == Matrix_y.getColCount())&&(Matrix_x.getColCount() == Matrix_z.getColCount()))
213 void setVectorField(Eigen::MatrixXf &Matrix_x,Eigen::MatrixXf &Matrix_y, Eigen::MatrixXf &Matrix_z) {
214 ASSERT_((Matrix_x.getRowCount() == Matrix_y.getRowCount())&&(Matrix_x.getRowCount() == Matrix_z.getRowCount()))
215 ASSERT_((Matrix_x.getColCount() == Matrix_y.getColCount())&&(Matrix_x.getColCount() == Matrix_z.getColCount()))
226 ASSERT_((Matrix_x.getRowCount() == Matrix_y.getRowCount())&&(Matrix_x.getRowCount() == Matrix_z.getRowCount()))
227 ASSERT_((Matrix_x.getColCount() == Matrix_y.getColCount())&&(Matrix_x.getColCount() == Matrix_z.getColCount()))
234 void setPointCoordinates(Eigen::MatrixXf &Matrix_x, Eigen::MatrixXf &Matrix_y, Eigen::MatrixXf &Matrix_z) {
235 ASSERT_((Matrix_x.getRowCount() == Matrix_y.getRowCount())&&(Matrix_x.getRowCount() == Matrix_z.getRowCount()))
236 ASSERT_((Matrix_x.getColCount() == Matrix_y.getColCount())&&(Matrix_x.getColCount() == Matrix_z.getColCount()))
248 x_vf.resize(rows,cols); y_vf.resize(rows,cols); z_vf.resize(rows,cols);
249 x_p.resize(rows,cols); y_p.resize(rows,cols); z_p.resize(rows,cols);
void getVectorFieldColor(mrpt::utils::TColorf Cmin, mrpt::utils::TColorf Cmax) const
Get the motion field min and max colors (colormap) in the range [0,1].
void setPointCoordinates(mrpt::math::CMatrixFloat &Matrix_x, mrpt::math::CMatrixFloat &Matrix_y, mrpt::math::CMatrixFloat &Matrix_z)
Set the coordinates of the points at which the vector field is plotted with Matrix_x,...
const mrpt::math::CMatrixFloat & getVectorField_z() const
Get the "z" component of the vector field as a matrix.
size_t getRowCount() const
Returns the total count of columns used to represent the vector field.
bool m_antiAliasing
By default it is true.
mrpt::math::CMatrixFloat & getVectorField_z()
This is an overloaded member function, provided for convenience. It differs from the above function o...
float getMaxSpeedForColor() const
Get the max_speed with which lines are drawn.
float getLineWidth() const
Get the width with which lines are drawn.
bool isColorFromModuleEnabled() const
void getPointCoordinates(Eigen::MatrixXf &Coord_x, Eigen::MatrixXf &Coord_y, Eigen::MatrixXf &Coord_z) const
mrpt::math::CMatrix z_p
Z coordinate of the points at which the vector field is plotted.
void setLineWidth(const float w)
Set the width with which lines will be drawn.
mrpt::math::CMatrixFloat & getVectorField_y()
This is an overloaded member function, provided for convenience. It differs from the above function o...
mrpt::math::CMatrix x_vf
X component of the vector field.
A renderizable object suitable for rendering with OpenGL's display lists.
mrpt::utils::TColor m_still_color
Color associated to fields with null module.
A 3D vector field representation, consisting of points and arrows drawn at any spatial position.
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated)
mrpt::utils::TColor m_point_color
float m_pointSize
By default it is 1.0.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
bool isAntiAliasingEnabled() const
mrpt::utils::TColorf getPointColor() const
Get the point color in the range [0,1].
bool m_colorFromModule
By default it is false.
void getVectorField(mrpt::math::CMatrixFloat &Matrix_x, mrpt::math::CMatrixFloat &Matrix_y, mrpt::math::CMatrixFloat &Matrix_z) const
Get the vector field in three independent matrices: Matrix_x, Matrix_y and Matrix_z.
float m_LineWidth
By default it is 1.0.
A matrix of dynamic size.
class OPENGL_IMPEXP CVectorField3D
void clear()
Clear the matrices.
void getVectorField(Eigen::MatrixXf &Matrix_x, Eigen::MatrixXf &Matrix_y, Eigen::MatrixXf &Matrix_z) const
void setVectorField(Eigen::MatrixXf &Matrix_x, Eigen::MatrixXf &Matrix_y, Eigen::MatrixXf &Matrix_z)
void enableColorFromModule(bool enable=true)
mrpt::math::CMatrixFloat & getVectorField_x()
This is an overloaded member function, provided for convenience. It differs from the above function o...
This class is a "CSerializable" wrapper for "CMatrixFloat".
mrpt::math::CMatrix y_p
Y coordinate of the points at which the vector field is plotted.
size_t getColCount() const
Returns the total count of rows used to represent the vector field.
void resize(size_t rows, size_t cols)
Resizes the set.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
bool m_showPoints
By default it is true.
void setMotionFieldColormap(const float Rmin, const float Gmin, const float Bmin, const float Rmax, const float Gmax, const float Bmax, const float Amin=1, const float Amax=1)
Set the motion field min and max colors (colormap) in the range [0,1].
void setPointSize(const float p)
Set the size with which points will be drawn.
void setPointColor(const float R, const float G, const float B, const float A=1)
Set the point color in the range [0,1].
float m_maxspeed
Value of the module of the motion field which will correspond to 'm_maxspeed_color'.
A RGB color - floats in the range [0,1].
#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...
float getPointSize() const
Get the size with which points are drawn.
mrpt::math::CMatrix z_vf
Z component of the vector field.
const mrpt::math::CMatrixFloat & getVectorField_x() const
Get the "x" component of the vector field as a matrix.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void setVectorField(mrpt::math::CMatrixFloat &Matrix_x, mrpt::math::CMatrixFloat &Matrix_y, mrpt::math::CMatrixFloat &Matrix_z)
Set the vector field with Matrix_x, Matrix_y and Matrix_z.
mrpt::utils::TColor m_field_color
void enableShowPoints(bool enable=true)
mrpt::utils::TColorf getVectorFieldColor() const
Get the arrow color in the range [0,1].
void getPointCoordinates(mrpt::math::CMatrixFloat &Coord_x, mrpt::math::CMatrixFloat &Coord_y, mrpt::math::CMatrixFloat &Coord_z) const
Get the coordiantes of the points at which the vector field is plotted: Coord_x, Coord_y and Coord_z.
mrpt::utils::TColor m_maxspeed_color
Color associated to fields whose module is equal or larger than 'm_maxspeed'.
mrpt::math::CMatrix y_vf
Y component of the vector field.
void setMaxSpeedForColor(const float s)
Set the max speed associated for the color map ( m_still_color, m_maxspeed_color)
const mrpt::math::CMatrixFloat & getVectorField_y() const
Get the "y" component of the vector field as a matrix.
mrpt::math::CMatrix x_p
X coordinate of the points at which the vector field is plotted.
virtual ~CVectorField3D()
Private, virtual destructor: only can be deleted from smart pointers.
void setPointCoordinates(Eigen::MatrixXf &Matrix_x, Eigen::MatrixXf &Matrix_y, Eigen::MatrixXf &Matrix_z)
void setVectorFieldColor(const float R, const float G, const float B, const float A=1)
Set the arrow color in the range [0,1].
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
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