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DynamicLines.hh
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1 /*
2  * Copyright (C) 2012-2014 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.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: Dynamic line generator
18  * Author: Nate Koenig
19  * Date: 28 June 2007
20  */
21 
22 #ifndef DYNAMICLINES_HH
23 #define DYNAMICLINES_HH
24 
25 #include <vector>
26 #include <string>
27 
29 #include "gazebo/math/Vector3.hh"
32 
33 namespace gazebo
34 {
35  namespace rendering
36  {
39 
43  {
47 
49  public: virtual ~DynamicLines();
50 
53  public: static std::string GetMovableType();
54 
57  public: virtual const Ogre::String &getMovableType() const;
58 
62  public: void AddPoint(const math::Vector3 &_pt,
63  const common::Color &_color = common::Color::White);
64 
70  public: void AddPoint(double _x, double _y, double _z,
71  const common::Color &_color = common::Color::White);
72 
76  public: void SetPoint(unsigned int _index, const math::Vector3 &_value);
77 
81  public: void SetColor(unsigned int _index, const common::Color &_color);
82 
86  public: const math::Vector3& GetPoint(unsigned int _index) const;
87 
90  public: unsigned int GetPointCount() const;
91 
93  public: void Clear();
94 
96  public: void Update();
97 
100  private: virtual void CreateVertexDeclaration();
101 
104  private: virtual void FillHardwareBuffers();
105 
107  private: std::vector<math::Vector3> points;
108 
110  private: bool dirty;
111 
113  private: std::vector<common::Color> colors;
114  };
116  }
117 }
118 #endif