PointCloudRepresentation.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013-2016, SimQuest Solutions Inc.
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 #ifndef SURGSIM_GRAPHICS_POINTCLOUDREPRESENTATION_H
17 #define SURGSIM_GRAPHICS_POINTCLOUDREPRESENTATION_H
18 
19 #include <memory>
20 
26 #include "SurgSim/Math/Vector.h"
27 
28 namespace SurgSim
29 {
30 namespace Graphics
31 {
32 
34 
37 {
38 public:
39 
41  explicit PointCloudRepresentation(const std::string& name);
42 
43  virtual ~PointCloudRepresentation();
44 
47  virtual std::shared_ptr<PointCloud> getVertices() const = 0;
48 
52  virtual void setPointSize(double val) = 0;
53 
57  virtual double getPointSize() const = 0;
58 
61  virtual void setColor(const SurgSim::Math::Vector4d& color) = 0;
62 
65  virtual SurgSim::Math::Vector4d getColor() const = 0;
66 
67  void updateVertices(const DataStructures::VerticesPlain& vertices);
68 
70 
71 protected:
72 
74 };
75 
76 }; // Graphics
77 }; // SurgSim
78 
79 #endif // SURGSIM_GRAPHICS_POINTCLOUDREPRESENTATION_H
Vector.h
Definitions of small fixed-size vector types.
SurgSim::Graphics::PointCloudRepresentation::getColor
virtual SurgSim::Math::Vector4d getColor() const =0
Gets the color.
SurgSim::DataStructures::Vertices< SurgSim::DataStructures::EmptyData >
Vertices.h
LockedContainer.h
SurgSim::Graphics::PointCloudRepresentation::setColor
virtual void setColor(const SurgSim::Math::Vector4d &color)=0
Sets a color for all of the points together.
SurgSim::Graphics::PointCloudRepresentation::PointCloudRepresentation
PointCloudRepresentation(const std::string &name)
Constructor.
Definition: PointCloudRepresentation.cpp:25
Representation.h
EmptyData.h
SurgSim
Definition: CompoundShapeToGraphics.cpp:30
SurgSim::Framework::LockedContainer
A simple thread-safe data container that can support multiple writers and readers.
Definition: LockedContainer.h:55
MathConvert.h
This contains a series of functions to encode and decode Eigen data structures to and from YAML nodes...
SurgSim::Math::Vector4d
Eigen::Matrix< double, 4, 1 > Vector4d
A 4D vector of doubles.
Definition: Vector.h:61
SurgSim::Graphics::PointCloudRepresentation::m_locker
Framework::LockedContainer< DataStructures::VerticesPlain > m_locker
Definition: PointCloudRepresentation.h:73
SurgSim::Graphics::PointCloudRepresentation::updateVertices
void updateVertices(const DataStructures::VerticesPlain &vertices)
Definition: PointCloudRepresentation.cpp:42
SurgSim::Graphics::PointCloudRepresentation
Graphic representation of a point cloud, hase a very basic interface and is intentionally kept generi...
Definition: PointCloudRepresentation.h:37
SurgSim::Graphics::PointCloudRepresentation::setPointSize
virtual void setPointSize(double val)=0
Sets point size for the point elements.
SurgSim::Graphics::PointCloudRepresentation::getPointSize
virtual double getPointSize() const =0
Gets point size.
SurgSim::Graphics::Representation
Base graphics representation class, which defines the interface that all graphics representations mus...
Definition: Representation.h:40
string
string(TOUPPER ${DEVICE} DEVICE_UPPER_CASE) option(BUILD_DEVICE_$
Definition: CMakeLists.txt:38
SurgSim::Graphics::PointCloudRepresentation::getVertices
virtual std::shared_ptr< PointCloud > getVertices() const =0
Pull the vertices.
SurgSim::Graphics::PointCloud
SurgSim::DataStructures::Vertices< SurgSim::DataStructures::EmptyData > PointCloud
Definition: PointCloudRepresentation.h:33
SurgSim::Graphics::PointCloudRepresentation::~PointCloudRepresentation
virtual ~PointCloudRepresentation()
Definition: PointCloudRepresentation.cpp:38