RenderPlannerData.cpp
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 #include "omplapp/graphics/detail/RenderPlannerData.h"
14 #include <ompl/base/spaces/SE2StateSpace.h>
15 #include <ompl/base/spaces/SE3StateSpace.h>
16 
17 #ifdef __APPLE__
18 #include <OpenGL/gl.h>
19 #else
20 #include <GL/gl.h>
21 #endif
22 
23 namespace ompl
24 {
25  namespace app
26  {
27 
28  static void renderState(const base::SE2StateSpace::StateType &state)
29  {
30  glVertex3d(state.getX(), state.getY(), 0.0);
31  }
32 
33  static void renderState(const base::SE3StateSpace::StateType &state)
34  {
35  glVertex3d(state.getX(), state.getY(), state.getZ());
36  }
37 
38  static void renderEdge(const base::SE2StateSpace::StateType &state1,
39  const base::SE2StateSpace::StateType &state2)
40  {
41  renderState(state1);
42  renderState(state2);
43  }
44 
45  static void renderEdge(const base::SE3StateSpace::StateType &state1,
46  const base::SE3StateSpace::StateType &state2)
47  {
48  renderState(state1);
49  renderState(state2);
50  }
51 
52  static void setStateColor(int tag)
53  {
54  static const int NC = 7;
55  static float colors[NC][4] =
56  {
57  {1.0f, 0.0f, 0.0f, 0.6f},
58  {0.0f, 1.0f, 0.0f, 0.6f},
59  {0.0f, 0.0f, 1.0f, 0.6f},
60  {1.0f, 1.0f, 0.0f, 0.6f},
61  {0.0f, 1.0f, 1.0f, 0.6f},
62  {1.0f, 0.0f, 1.0f, 0.6f},
63  {1.0f, 1.0f, 1.0f, 0.6f},
64  };
65 
66  int c = abs(tag) % NC;
67  glColor4f(colors[c][0], colors[c][1], colors[c][2], colors[c][3]);
68  }
69 
70  int RenderPlannerData(const base::PlannerData &pd, const aiVector3D &translate, MotionModel m, const GeometricStateExtractor &gse, unsigned int count)
71  {
72  static int result = -1;
73 
74  if (result != -1)
75  glDeleteLists(result, 2);
76  result = glGenLists(2);
77 
78  aiMatrix4x4 t;
79  aiMatrix4x4::Translation(-translate, t);
80  aiTransposeMatrix4(&t);
81 
82  // render vertices
83  glNewList(result, GL_COMPILE);
84  glPushMatrix();
85  glMultMatrixf((float*)&t);
86  glDisable(GL_LIGHTING);
87  glDisable(GL_COLOR_MATERIAL);
88  glPointSize(2.0f);
89  glBegin(GL_POINTS);
90  if (m == Motion_2D)
91  for (std::size_t i = 0; i < pd.numVertices(); ++i)
92  {
93  const base::PlannerDataVertex& vtx = pd.getVertex(i);
94  setStateColor(vtx.getTag());
95  for (unsigned int r = 0 ; r < count ; ++r)
96  {
97  const base::State *st = gse(vtx.getState(), r);
98  const base::SE2StateSpace::StateType* se2st = static_cast<const base::SE2StateSpace::StateType*>(st);
99  renderState (*se2st);
100  }
101  }
102  else
103  for (std::size_t i = 0; i < pd.numVertices(); ++i)
104  {
105  const base::PlannerDataVertex& vtx = pd.getVertex(i);
106  setStateColor(vtx.getTag());
107  for (unsigned int r = 0 ; r < count ; ++r)
108  {
109  const base::State *st = gse(vtx.getState(), r);
110  const base::SE3StateSpace::StateType* se3st = static_cast<const base::SE3StateSpace::StateType*>(st);
111  renderState (*se3st);
112  }
113  }
114  glEnd();
115  glPopMatrix();
116  glEndList();
117 
118  // render edges
119  glNewList(result+1, GL_COMPILE);
120  glPushMatrix();
121  glMultMatrixf((float*)&t);
122  glDisable(GL_LIGHTING);
123  glDisable(GL_COLOR_MATERIAL);
124  glPointSize(2.0f);
125  glBegin(GL_LINES);
126  std::vector<unsigned int> edgeList;
127  unsigned int numEdges;
128  if (m == Motion_2D)
129  for (std::size_t i = 0; i < pd.numVertices(); ++i)
130  {
131  const base::PlannerDataVertex& vtx = pd.getVertex(i);
133  static_cast<const base::SE2StateSpace::StateType*>(gse(vtx.getState(), 0));
134  setStateColor(vtx.getTag());
135  numEdges = pd.getEdges(i, edgeList);
136  for (unsigned int j = 0; j < numEdges; ++j)
137  {
139  static_cast<const base::SE2StateSpace::StateType*>(gse(pd.getVertex(edgeList[j]).getState(), 0));
140  renderEdge(*vi, *vj);
141  }
142  }
143  else
144  for (std::size_t i = 0; i < pd.numVertices(); ++i)
145  {
146  const base::PlannerDataVertex& vtx = pd.getVertex(i);
148  static_cast<const base::SE3StateSpace::StateType*>(gse(vtx.getState(), 0));
149  setStateColor(vtx.getTag());
150  numEdges = pd.getEdges(i, edgeList);
151  for (unsigned int j = 0; j < numEdges; ++j)
152  {
154  static_cast<const base::SE3StateSpace::StateType*>(gse(pd.getVertex(edgeList[j]).getState(), 0));
155  renderEdge(*vi, *vj);
156  }
157  }
158  glEnd();
159  glPopMatrix();
160  glEndList();
161 
162  return result;
163  }
164 
165  }
166 }
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
A state in SE(2): (x, y, yaw)
Definition: SE2StateSpace.h:53
A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w)
Definition: SE3StateSpace.h:53
unsigned int numVertices() const
Retrieve the number of vertices in this structure.
const PlannerDataVertex & getVertex(unsigned int index) const
Retrieve a reference to the vertex object with the given index. If this vertex does not exist...
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:58
int RenderPlannerData(const base::PlannerData &pd, const aiVector3D &translate, MotionModel m, const GeometricStateExtractor &gse, unsigned int count)
Render the planner states in pd, after shifting them by translate, using the motion model m...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:577
MotionModel
Specify whether bodies are moving in 2D or bodies moving in 3D.
Definition of an abstract state.
Definition: State.h:49
virtual const State * getState() const
Retrieve the state associated with this vertex.
Definition: PlannerData.h:80
unsigned int getEdges(unsigned int v, std::vector< unsigned int > &edgeList) const
Returns a list of the vertex indexes directly connected to vertex with index v (outgoing edges)...
virtual int getTag() const
Returns the integer tag associated with this vertex.
Definition: PlannerData.h:70