00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2010 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_StockObjects_H 00029 #define opengl_StockObjects_H 00030 00031 #include <mrpt/opengl/CSetOfObjects.h> 00032 00033 namespace mrpt 00034 { 00035 namespace opengl 00036 { 00037 /** A collection of pre-built 3D objects for quick insertion in opengl::COpenGLScene objects. 00038 */ 00039 namespace stock_objects 00040 { 00041 /** Returns a representation of a Pioneer II mobile base. 00042 * The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects. 00043 */ 00044 CSetOfObjectsPtr OPENGL_IMPEXP RobotPioneer(); 00045 00046 /** Returns three arrows representing a X,Y,Z 3D corner. 00047 * The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects. 00048 * \sa CornerXYZSimple 00049 */ 00050 CSetOfObjectsPtr OPENGL_IMPEXP CornerXYZ(float scale=1.0); 00051 00052 /** Returns three arrows representing a X,Y,Z 3D corner (just thick lines instead of complex arrows for faster rendering than CornerXYZ). 00053 * The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects. 00054 * \sa CornerXYZ 00055 */ 00056 CSetOfObjectsPtr OPENGL_IMPEXP CornerXYZSimple(float scale=1.0, float lineWidth=1.0); 00057 00058 /** Returns a high-quality 3D model of a SICK laser scanner (Model by Miguel Angel Espada Bernal) 00059 */ 00060 CSetOfObjectsPtr OPENGL_IMPEXP SICKLaser(); 00061 00062 /** Returns a simple 3D model of a PointGrey Bumblebee stereo camera. 00063 * The generated object must be inserted in a opengl::COpenGLScene or opengl::CSetOfObjects. 00064 */ 00065 CSetOfObjectsPtr OPENGL_IMPEXP BumblebeeCamera(); 00066 00067 } // end namespace stock_objects 00068 } 00069 00070 } // End of namespace 00071 00072 00073 #endif
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