RenderGeometry.h

/*********************************************************************
* Rice University Software Distribution License
*
* Copyright (c) 2010, Rice University
* All Rights Reserved.
*
* For a full description see the file named LICENSE.
*
*********************************************************************/
 
/* Author: Ioan Sucan */
 
#ifndef OMPLAPP_GRAPHICS_RENDER_GEOMETRY_
#define OMPLAPP_GRAPHICS_RENDER_GEOMETRY_
 
#include "omplapp/geometry/RigidBodyGeometry.h"
#include <ompl/base/Planner.h>
 
#include <utility>
 
namespace ompl
{
    namespace app
    {
 
        class RenderGeometry
        {
        public:
 
            RenderGeometry(const RigidBodyGeometry &rbg, GeometricStateExtractor se) : rbg_(rbg), se_(std::move(se))
            {
            }
 
            virtual ~RenderGeometry() = default;
 
            int renderEnvironment() const;
 
            int renderRobot() const;
 
            int renderRobotPart(unsigned int index) const;
 
            int renderPlannerData(const base::PlannerData &pd) const;
 
        private:
 
            const RigidBodyGeometry &rbg_;
            GeometricStateExtractor  se_;
 
        };
 
    }
}
 
#endif