#include <viewer.h>

Collaboration diagram for gcop::Viewer:

Public Member Functions
	Viewer ()
virtual	~Viewer ()
void	Init (int argc, char *argv)
void	Start ()
void	Add (View &view)
void	Remove (View &view)
void	RenderViews ()
void	DrawOrigin (GLUquadricObj *qobj=0)
void	DrawAll ()
void	SetColor (const float rgb[3])
void	Reshape (int width, int height)
void	Render ()
void	Keyboard (unsigned char ch, int x, int y)
void	Mouse (int button, int state, int x, int y)
void	Motion (int x, int y)
void	SaveImage (const char *name=0)
void	SetCamera (float sphi, float stheta, float sx, float sy, float sz)
void	SetCamera (const float params[5])
Static Public Member Functions
static void	DrawFrame (GLUquadricObj *qobj=0)
static void	DrawArrow (double l=1.0, GLUquadricObj *qobj=0)
static void	DrawArrow (const double v[3], GLUquadricObj *qobj=0)
static void	DrawText (const char *str, float size=.2)
static GLuint	LoadTexture (const char *fname, int wrap=true)
static void	DrawCircle (double x=0, double y=0, double r=1, int slices=20)
static void	Cylinder (const double xa[3], const double xb[3], double r, int sd)
static void	SetColor (float r, float g, float b, float alpha=0)
static void	SetMaterial (GLfloat ambientR, GLfloat ambientG, GLfloat ambientB, GLfloat diffuseR, GLfloat diffuseG, GLfloat diffuseB, GLfloat specularR, GLfloat specularG, GLfloat specularB, GLfloat shininess)
Public Attributes
float	sphi
float	stheta
float	sx
float	sy
float	sz
float	zNear
float	zFar
float	aspect
float	xcam
float	ycam
int	width
int	height
float	os
	origin scale (how long are the origin axes, default is 1)
float	rgb [3]
	default background (clear) color
int	window
bool	animate
	whether to animate all trajectory frames
double	animDelay
	animation delay (def. is 30 ms)
bool	saveFrames
	whether to save frame images
const char *	frameName
	frame image filename
bool	saveDisplay
	whether to continuously save display images at every refresh
const char *	displayName
	display image filename
int	displayNo
	counter for display image filenames
bool	saveSnapshot
	save a single snapshot
bool	altLight
Static Public Attributes
static Viewer *	instance = 0
Protected Attributes
int	downX
int	downY
int	leftButton
int	middleButton
int	rightButton
pthread_mutex_t	mut
std::map< int, View * >	views
GLUquadricObj *	aqobj
unsigned char *	rgbimg
	rgb image used internally for saving
unsigned char *	ppmimg
	ppm image used internally for saving

Detailed Description

Light-weight OpenGL viewer The viewer keeps a list of "views" of different objects and displays them. A view is simply defined as an object that "knows" how to be rendered: it provides its own Render() function

Author: Marin Kobilarov (mkobilar(at)robotics.usc.edu)

Constructor & Destructor Documentation

Viewer::Viewer ( )

Viewer::~Viewer ( ) [virtual]

Member Function Documentation

void Viewer::Add ( View & view )

Add a view

References gcop::View::id.

void Viewer::Cylinder	(	const double	xa[3],
		const double	xb[3],
		double	r,
		int	sd
	)		`[static]`

Draw a cylinder between two points

Parameters:

xa	starting point
xb	end point
r	radius
sd	unused

void Viewer::DrawAll ( )

Draw all views and origin

void Viewer::DrawArrow	(	double	l = `1.0`,
		GLUquadricObj *	qobj = `0`
	)		`[static]`

Draws an arrow with length l

Parameters:

l	length of arrow
qobj	quadratic object used for drawing (leave 0 to create a new one)

Referenced by gcop::Body2dView< c >::Render(), gcop::Body2dGraphView::RenderFrame(), gcop::Body3dTrackView::RenderFrame(), gcop::Body2dTrackView::RenderFrame(), and gcop::Kinbody3dTrackView< _nu >::RenderFrame().

void Viewer::DrawArrow	(	const double	v[3],
		GLUquadricObj *	qobj = `0`
	)		`[static]`

Draws an arrow aligned with vector v

Parameters:

v	3x1 vector
qobj	quadratic object used for drawing (leave 0 to create a new one)

References CROSS, DIV3, DOT3, and NORM3.

void Viewer::DrawCircle	(	double	x = `0`,
		double	y = `0`,
		double	r = `1`,
		int	slices = `20`
	)		`[static]`

Draw a circle

Parameters:

x	x-coord
y	y-coord
r	radius
slices	resolution in slices

void Viewer::DrawFrame ( GLUquadricObj * qobj = 0 ) [static]

Draw frame at the origin with unit length axes

void Viewer::DrawOrigin ( GLUquadricObj * qobj = 0 )

Draw origin.

void Viewer::DrawText	(	const char *	str,
		float	size = `.2`
	)		`[static]`

Draws text

Parameters:

str	string
size	font size

Referenced by gcop::Body2dGraphView::RenderFrame(), and gcop::Posegraph2dView::RenderFrame().

void Viewer::Init	(	int *	argc,
		char **	argv
	)

Initialize the viewer with the command line args

References g_viewer_idle(), g_viewer_keyboard(), g_viewer_motion(), g_viewer_mouse(), g_viewer_render(), g_viewer_reshape(), and InitViewerWindow().

void Viewer::Keyboard	(	unsigned char	ch,
		int	x,
		int	y
	)

GLuint Viewer::LoadTexture	(	const char *	fname,
		int	wrap = `true`
	)		`[static]`

Referenced by gcop::DemView::SetTexture().

void Viewer::Motion	(	int	x,
		int	y
	)

void Viewer::Mouse	(	int	button,
		int	state,
		int	x,
		int	y
	)

void Viewer::Remove ( View & view )

Remove a view

References gcop::View::id.

void Viewer::Render ( )

void Viewer::RenderViews ( )

Render all views. This is automatically called by graphics engine. You can call this method only if you want to render the views immediately

References gcop::View::Lock(), gcop::View::Render(), gcop::View::RenderFrame(), and gcop::View::Unlock().

void Viewer::Reshape	(	int	width,
		int	height
	)

void Viewer::SaveImage ( const char * name = 0 )

Save an image of the current display

Parameters:

name	file name (if omited then the name will be "%s_%04d.ppm" where s is Viewer::frameName and i is a global index

void Viewer::SetCamera	(	float	sphi,
		float	stheta,
		float	sx,
		float	sy,
		float	sz
	)

void Viewer::SetCamera ( const float params[5] )

void Viewer::SetColor ( const float rgb[3] )

Set the default background (clear) color

Parameters:

rgb rgb color

Referenced by gcop::UuvView< c >::Render(), gcop::Kinbody3dView< _nu >::Render(), gcop::Posegraph2dView::RenderFrame(), gcop::Body3dTrackView::RenderFrame(), gcop::Body2dTrackView::RenderFrame(), and gcop::Kinbody3dTrackView< _nu >::RenderFrame().

void Viewer::SetColor	(	float	r,
		float	g,
		float	b,
		float	alpha = `0`
	)		`[static]`

void Viewer::SetMaterial	(	GLfloat	ambientR,
		GLfloat	ambientG,
		GLfloat	ambientB,
		GLfloat	diffuseR,
		GLfloat	diffuseG,
		GLfloat	diffuseB,
		GLfloat	specularR,
		GLfloat	specularG,
		GLfloat	specularB,
		GLfloat	shininess
	)		`[static]`