DynamicLines.hh
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2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 #ifndef GAZEBO_RENDERING_DYNAMICLINES_HH
18 #define GAZEBO_RENDERING_DYNAMICLINES_HH
19 
20 #include <memory>
21 #include <vector>
22 #include <string>
23 #include <ignition/math/Color.hh>
24 
28 #include "gazebo/util/system.hh"
29 
30 namespace gazebo
31 {
32  namespace rendering
33  {
36 
38  class DynamicLinesPrivate;
39 
42  class GZ_RENDERING_VISIBLE DynamicLines : public DynamicRenderable
43  {
46  public: explicit DynamicLines(
48 
50  public: virtual ~DynamicLines();
51 
54  public: static std::string GetMovableType();
55 
58  public: virtual const Ogre::String &getMovableType() const;
59 
63  public: void AddPoint(const ignition::math::Vector3d &_pt,
64  const ignition::math::Color &_color = ignition::math::Color::White);
65 
71  public: void AddPoint(const double _x, const double _y, const double _z,
72  const ignition::math::Color &_color = ignition::math::Color::White);
73 
77  public: void SetPoint(const unsigned int _index,
78  const ignition::math::Vector3d &_value);
79 
84  public: void SetColor(const unsigned int _index,
85  const ignition::math::Color &_color);
86 
93  public: ignition::math::Vector3d Point(const unsigned int _index) const;
94 
97  public: unsigned int GetPointCount() const;
98 
100  public: void Clear();
101 
103  public: void Update();
104 
107  private: virtual void CreateVertexDeclaration();
108 
111  private: virtual void FillHardwareBuffers();
112 
114  private: std::vector<ignition::math::Vector3d> points;
115 
117  private: bool dirty;
118 
120  private: std::unique_ptr<DynamicLinesPrivate> dataPtr;
121  };
123  }
124 }
125 #endif
Class for drawing lines that can change.
Definition: DynamicLines.hh:42
Forward declarations for the common classes.
Definition: Animation.hh:26
Abstract base class providing mechanisms for dynamically growing hardware buffers.
Definition: DynamicRenderable.hh:35
RenderOpType
Type of render operation for a drawable.
Definition: RenderTypes.hh:216
A strip of connected lines, 1 vertex per line plus 1 start vertex.
Definition: RenderTypes.hh:226