RenderGeometry.h
1 /*********************************************************************
2 * Rice University Software Distribution License
3 *
4 * Copyright (c) 2010, Rice University
5 * All Rights Reserved.
6 *
7 * For a full description see the file named LICENSE.
8 *
9 *********************************************************************/
10 
11 /* Author: Ioan Sucan */
12 
13 #ifndef OMPLAPP_GRAPHICS_RENDER_GEOMETRY_
14 #define OMPLAPP_GRAPHICS_RENDER_GEOMETRY_
15 
16 #include "omplapp/geometry/RigidBodyGeometry.h"
17 #include <ompl/base/Planner.h>
18 
19 #include <utility>
20 
21 namespace ompl
22 {
23  namespace app
24  {
25 
27  {
28  public:
29 
31  RenderGeometry(const RigidBodyGeometry &rbg, GeometricStateExtractor se) : rbg_(rbg), se_(std::move(se))
32  {
33  }
34 
35  virtual ~RenderGeometry() = default;
36 
37  int renderEnvironment() const;
38 
39  int renderRobot() const;
40 
41  int renderRobotPart(unsigned int index) const;
42 
43  int renderPlannerData(const base::PlannerData &pd) const;
44 
45  private:
46 
47  const RigidBodyGeometry &rbg_;
48  GeometricStateExtractor se_;
49 
50  };
51 
52  }
53 }
54 
55 #endif
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
STL namespace.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
RenderGeometry(const RigidBodyGeometry &rbg, GeometricStateExtractor se)
Constructor expects a state space that can represent a rigid body.