RenderPointCloud Class Reference

Render a point cloud. More...

#include <RenderPointCloud.hpp>

Inherits Render.

Public Types
typedef rw::core::Ptr< RenderPointCloud >	Ptr
	smart pointer type to this class
Public Types inherited from Render
typedef rw::core::Ptr< Render >	Ptr
	smart pointer type to this class
typedef DrawableNode::DrawType	DrawType
	when calling render on the draw mode or type can be specified. See DrawableNode::DrawType

Public Member Functions
	RenderPointCloud ()
	Constructs RenderPointCloud with no points.
	RenderPointCloud (const std::vector< rw::math::Vector3D< float >> &points)
	Construct RenderPointCloud adding the points specified. More...
virtual	~RenderPointCloud ()
	Descructor.
void	addPoint (const rw::math::Vector3D< float > &p)
	Adds a single line to the drawable. More...
void	addPoint (const rw::math::Vector3D< double > &p)
	Adds a single line to the drawable.
void	addPoints (const std::vector< rw::math::Vector3D< float >> &points)
	Adds a collection of points. More...
void	addPoints (const std::vector< rw::math::Vector3D< double >> &points)
	Adds a collection of points. More...
void	setColor (float r, float g, float b, float alpha)
	Sets the color of the points. More...
void	setPointSize (float size)
	Sets point size. More...
void	clear ()
	Clears all points. More...
void	draw (const rw::graphics::DrawableNode::RenderInfo &info, rw::graphics::DrawableNode::DrawType type, double alpha) const
void	rerender ()
	Rerender the scene into the display list. This method need to be called after all points has been added.
Public Member Functions inherited from Render
virtual	~Render ()
	destructor

Additional Inherited Members
Protected Member Functions inherited from Render
	Render ()
	Only instances of classes inheriting Render is allowed.

Detailed Description

Render a point cloud.

Constructor & Destructor Documentation

RenderPointCloud()

RenderPointCloud

(

const std::vector< rw::math::Vector3D< float >> &

points

)

Construct RenderPointCloud adding the points specified.

Parameters

points

[in] Points to draw

Member Function Documentation

addPoint()

void addPoint

(

const rw::math::Vector3D< float > &

p

)

Adds a single line to the drawable.

Note

Each call to addLine generates an update of the display list. Use addLines to add multiple lines with only one update.

Parameters

p	[in] point to add

addPoints() [1/2]

void addPoints

(

const std::vector< rw::math::Vector3D< double >> &

points

)

Adds a collection of points.

Parameters

points

addPoints() [2/2]

void addPoints

(

const std::vector< rw::math::Vector3D< float >> &

points

)

Adds a collection of points.

After all points are added, the display list will be updated

Parameters

points

[in] List of points

clear()

void clear

(

)

Clears all points.

When clearing the points a new display list without points will be generated.

draw()

void draw ( const rw::graphics::DrawableNode::RenderInfo &  info, rw::graphics::DrawableNode::DrawType  type, double  alpha  ) const

virtual

Parameters

info	[in] state and rendering specific info
type	[in] the drawtype which is being used
alpha	[in] the alpha value to render with

Implements Render.

setColor()

void setColor	(	float	r,
		float	g,
		float	b,
		float	alpha
	)

Sets the color of the points.

The influence of the alpha value depends on how opengl is configured. Calling setColor triggers an update of the display list

Parameters

r	[in] red [0;1]
g	[in] green [0;1]
b	[in] blue [0;1]
alpha	[in] alpha [0;1]

setPointSize()

void setPointSize

(

float

size

)

Sets point size.

The thickness is forwarded to glPointSize. Default 2.0. Calling setPointSize triggers an update of the display list

Parameters

size	[in] Point size

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The documentation for this class was generated from the following file:

• RenderPointCloud.hpp