DynamicLines.hh

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/*
 * Copyright (C) 2012-2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: Dynamic line generator
 * Author: Nate Koenig
 * Date: 28 June 2007
 */

#ifndef DYNAMICLINES_HH
#define DYNAMICLINES_HH

#include <vector>
#include <string>

#include "gazebo/common/CommonIface.hh"
#include "gazebo/math/Vector3.hh"
#include "gazebo/rendering/Conversions.hh"
#include "gazebo/rendering/DynamicRenderable.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace rendering
  {

    class GZ_RENDERING_VISIBLE DynamicLines : public DynamicRenderable
    {
      public: DynamicLines(RenderOpType _opType = RENDERING_LINE_STRIP);

      public: virtual ~DynamicLines();

      public: static std::string GetMovableType();

      public: virtual const Ogre::String &getMovableType() const;

      public: void AddPoint(const math::Vector3 &_pt,
            const common::Color &_color = common::Color::White)
              GAZEBO_DEPRECATED(7.0);

      public: void AddPoint(const ignition::math::Vector3d &_pt,
            const common::Color &_color = common::Color::White);

      public: void AddPoint(double _x, double _y, double _z,
            const common::Color &_color = common::Color::White);

      public: void SetPoint(unsigned int _index, const math::Vector3 &_value)
              GAZEBO_DEPRECATED(7.0);

      public: void SetPoint(const unsigned int _index,
                  const ignition::math::Vector3d &_value);

      public: void SetColor(unsigned int _index, const common::Color &_color);

      public: math::Vector3 GetPoint(unsigned int _index) const
              GAZEBO_DEPRECATED(7.0);

      public: ignition::math::Vector3d Point(const unsigned int _index) const;

      public: unsigned int GetPointCount() const;

      public: void Clear();

      public: void Update();

      private: virtual void  CreateVertexDeclaration();

      private: virtual void FillHardwareBuffers();

      private: std::vector<ignition::math::Vector3d> points;

      private: bool dirty;

      private: std::vector<common::Color> colors;
    };
  }
}
#endif