10 #ifndef opengl_CVectorField2D_H
11 #define opengl_CVectorField2D_H
43 float xMin,xMax,yMin,yMax;
48 mrpt::utils::TColor m_point_color;
49 mrpt::utils::TColor m_field_color;
64 inline void setPointColor(
const float R,
const float G,
const float B,
const float A = 1)
118 xMin = center_x - 0.5*cellsize_x*(xcomp.getColCount()-1);
119 xMax = center_x + 0.5*cellsize_x*(xcomp.getColCount()-1);
120 yMin = center_y - 0.5*cellsize_y*(xcomp.getRowCount()-1);
121 yMax = center_y + 0.5*cellsize_y*(xcomp.getRowCount()-1);
128 void setGridLimits(
const float xmin,
const float xmax,
const float ymin,
const float ymax)
130 xMin=xmin; xMax = xmax;
131 yMin=ymin; yMax = ymax;
140 xmin=xMin; xmax=xMax;
141 ymin=yMin; ymax=yMax;
166 ASSERT_((Matrix_x.getRowCount() == Matrix_y.getRowCount())&&(Matrix_x.getColCount() == Matrix_y.getColCount()))
175 void adjustVectorFieldToGrid();
180 xcomp.resize(rows, cols);
181 ycomp.resize(rows, cols);
197 void render_dl()
const;
virtual ~CVectorField2D()
Private, virtual destructor: only can be deleted from smart pointers.
void enableAntiAliasing(bool enable=true)
float getPointSize() const
Get the size with which points are drawn.
mrpt::utils::TColorf getPointColor() const
Get the point color in the range [0,1].
float getLineWidth() const
Get the width with which lines are drawn.
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
void getVectorField(mrpt::math::CMatrixFloat &Matrix_x, mrpt::math::CMatrixFloat &Matrix_y) const
Get the vector field.
A renderizable object suitable for rendering with OpenGL's display lists.
void setPointSize(const float p)
Set the size with which points will be drawn.
#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...
void resize(size_t rows, size_t cols)
Resizes the set.
bool isAntiAliasingEnabled() const
const mrpt::math::CMatrixFloat & getVectorField_y() const
Get the "y" component of the vector field, as a matrix where each entry represents a point in the 2D ...
size_t getRowCount() const
Returns the total count of columns used to represent the vector field.
void setGridLimits(const float xmin, const float xmax, const float ymin, const float ymax)
Set the coordinates of the grid on where the vector field will be drawn using x-y max and min values...
A 2D vector field representation, consisting of points and arrows drawn on a plane (invisible grid)...
void setLineWidth(const float w)
Set the width with which lines will be drawn.
size_t getColCount() const
Returns the total count of rows used to represent the vector field.
mrpt::math::CMatrixFloat & getVectorField_y()
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void setGridCenterAndCellSize(const float center_x, const float center_y, const float cellsize_x, const float cellsize_y)
Set the coordinates of the grid on where the vector field will be drawn by setting its center and the...
void setPointColor(const float R, const float G, const float B, const float A=1)
Set the point color in the range [0,1].
mrpt::utils::TColorf getVectorFieldColor() const
Get the arrow color in the range [0,1].
const mrpt::math::CMatrixFloat & getVectorField_x() const
Get the "x" component of the vector field, as a matrix where each entry represents a point in the 2D ...
A RGB color - floats in the range [0,1].
void setVectorField(mrpt::math::CMatrixFloat &Matrix_x, mrpt::math::CMatrixFloat &Matrix_y)
Set the vector field.
A matrix of dynamic size.
void getGridLimits(float &xmin, float &xmax, float &ymin, float &ymax) const
Get the coordinates of the grid on where the vector field is drawn using the max and min values...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
void setVectorFieldColor(const float R, const float G, const float B, const float A=1)
Set the arrow color in the range [0,1].
mrpt::math::CMatrixFloat & getVectorField_x()