CVectorField2D.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#ifndef opengl_CVectorField2D_H
#define opengl_CVectorField2D_H

#include <mrpt/opengl/CRenderizableDisplayList.h>
#include <mrpt/math/lightweight_geom_data.h>
#include <mrpt/math/CMatrix.h>

namespace mrpt
{
        namespace opengl
        {
                using mrpt::math::TPoint3D;
                using mrpt::math::TSegment3D;
                using mrpt::math::CMatrix;
                using mrpt::math::CMatrixFloat;
                using mrpt::utils::TColor;
                using mrpt::utils::TColorf;


                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CVectorField2D, CRenderizableDisplayList, OPENGL_IMPEXP )

                /** A 2D vector field representation, consisting of points and arrows drawn on a plane (invisible grid).
                  *  \sa opengl::COpenGLScene
                  *
                  *  <div align="center">
                  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
                  *   <tr> <td> mrpt::opengl::CVectorField2D </td> <td> \image html preview_CVectorField2D.png </td> </tr>
                  *  </table>
                  *  </div>
                  *
                  * \ingroup mrpt_opengl_grp
                  */

                class OPENGL_IMPEXP CVectorField2D : public CRenderizableDisplayList
                {
                        DEFINE_SERIALIZABLE( CVectorField2D )
                protected:
                        CMatrix xcomp;                          //!< X component of the vector field
                        CMatrix ycomp;                          //!< Y component of the vector field

                        float   xMin,xMax,yMin,yMax;    //!< Grid bounds
            float       m_LineWidth;                    //!< By default is 1.0
                        float   m_pointSize;                    //!< By default is 1.0
                        bool    m_antiAliasing;                 //!< By default is true

                        TColor m_point_color;
                        TColor m_field_color;

                public:
                        /**
                          * Clear the matrices
                          */
                        inline void clear()     {
                                xcomp.resize(0,0);
                                ycomp.resize(0,0);
                                CRenderizableDisplayList::notifyChange();
                        }

                        /**
                          * Set the point color in the range [0,1]
                          */
                        inline void setPointColor( const float R, const float G, const float B, const float A = 1)
                        {
                                m_point_color = TColor(R*255,G*255,B*255,A*255);
                                CRenderizableDisplayList::notifyChange();
                        }

                        /**
                          * Get the point color in the range [0,1]
                          */
                        inline TColorf getPointColor() const { return mrpt::utils::TColorf(m_point_color); }

                        /**
                          * Set the arrow color in the range [0,1]
                          */
                        inline void setVectorFieldColor( const float R, const float G, const float B, const float A = 1)
                        {
                                m_field_color = TColor(R*255,G*255,B*255,A*255);
                                CRenderizableDisplayList::notifyChange();
                        }

                        /**
                          * Get the arrow color in the range [0,1]
                          */
                        inline TColorf getVectorFieldColor() const      { return mrpt::utils::TColorf(m_field_color); }

                        /**
                          * Set the size with which points will be drawn. By default 1.0
                          */
                        inline void setPointSize(const float p) { m_pointSize=p; CRenderizableDisplayList::notifyChange(); }

                        /**
                          * Get the size with which points are drawn. By default 1.0
                          */
                        inline float getPointSize() const { return m_pointSize; }

                        /**
                          * Set the width with which lines will be drawn.
                          */
                        inline void setLineWidth(const float w) { m_LineWidth = w; CRenderizableDisplayList::notifyChange(); }

                        /**
                          * Get the width with which lines are drawn.
                          */
                        float getLineWidth() const {
                                return m_LineWidth;
                        }

                        /**
                          * Set the coordinates of the grid on where the vector field will be drawn by setting its center and the cell size.
                          * The number of cells is marked by the content of xcomp and ycomp.
                          * \sa xcomp, ycomp
                          */
                        void setGridCenterAndCellSize(const float center_x, const float center_y, const float cellsize_x, const float cellsize_y)
                        {
                                xMin = center_x - 0.5*cellsize_x*(xcomp.getColCount()-1);
                                xMax = center_x + 0.5*cellsize_x*(xcomp.getColCount()-1);
                                yMin = center_y - 0.5*cellsize_y*(xcomp.getRowCount()-1);
                                yMax = center_y + 0.5*cellsize_y*(xcomp.getRowCount()-1);
                                CRenderizableDisplayList::notifyChange();
                        }

                        /**
                          * Set the coordinates of the grid on where the vector field will be drawn using x-y max and min values.
                          */
                        void setGridLimits(const float xmin,const float xmax, const float ymin, const float ymax)
                        {
                                xMin=xmin; xMax = xmax;
                                yMin=ymin; yMax = ymax;
                                CRenderizableDisplayList::notifyChange();
                        }

                        /**
                          * Get the coordinates of the grid on where the vector field is drawn using the max and min values.
                          */
                        void getGridLimits(float &xmin,float &xmax, float &ymin, float &ymax) const
                        {
                                xmin=xMin; xmax=xMax;
                                ymin=yMin; ymax=yMax;
                        }

                        /**
                          * Get the vector field. Matrix_x stores the "x" component and Matrix_y stores the "y" component.
                          */
                        void getVectorField(CMatrixFloat &Matrix_x, CMatrixFloat &Matrix_y) const {
                                Matrix_x = xcomp;
                                Matrix_y = ycomp;
                        }

                        /** Get the "x" component of the vector field, as a matrix where each entry represents a point in the 2D grid. */
                        inline const CMatrixFloat & getVectorField_x() const { return xcomp; }
                        /** \overload */
                        inline CMatrixFloat & getVectorField_x() { return xcomp; }

                        /** Get the "y" component of the vector field, as a matrix where each entry represents a point in the 2D grid. */
                        inline const CMatrixFloat & getVectorField_y() const { return ycomp; }
                        /** \overload */
                        inline CMatrixFloat & getVectorField_y() { return ycomp; }

                        /**
                          * Set the vector field. Matrix_x contains the "x" component and Matrix_y contains the "y" component.
                          */
                        void setVectorField(CMatrixFloat &Matrix_x, CMatrixFloat &Matrix_y) {
                                ASSERT_((Matrix_x.getRowCount() == Matrix_y.getRowCount())&&(Matrix_x.getColCount() == Matrix_y.getColCount()))
                                xcomp = Matrix_x;
                                ycomp = Matrix_y;
                                CRenderizableDisplayList::notifyChange();
                        }

                        /**
                          * Adjust the vector field in the scene (vectors magnitude) according to the grid size.
                          */
                        void adjustVectorFieldToGrid();

                        /**
                          * Resizes the set.
                          * \sa reserve
                          */
                        void resize(size_t rows, size_t cols)   {
                                xcomp.resize(rows, cols);
                                ycomp.resize(rows, cols);
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Reserves an amount of lines to the set. This method should be used when some known amount of lines is going to be inserted, so that only a memory allocation is needed.
                          * \sa resize
                          */
                        void reserve(size_t rows, size_t cols)  {
                                xcomp.resize(rows, cols);
                                ycomp.resize(rows, cols);
                                CRenderizableDisplayList::notifyChange();
                        }

                        /** Returns the total count of rows used to represent the vector field. */
                        inline size_t getColCount() const { return xcomp.getColCount(); }

                        /** Returns the total count of columns used to represent the vector field. */
                        inline size_t getRowCount() const { return xcomp.getRowCount(); }

                        /**
                          * Class factory
                          */
                        static CVectorField2DPtr Create(const CMatrixFloat Matrix_x, const CMatrixFloat Matrix_y, float xmin=-1, float xmax=1, float ymin=-1, float ymax=1);
                        /** Render
                          */
                        void  render_dl() const;


                        /** Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. */
                        virtual void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const;

                        void enableAntiAliasing(bool enable=true) { m_antiAliasing = enable; CRenderizableDisplayList::notifyChange(); }
                        bool isAntiAliasingEnabled() const { return m_antiAliasing; }

                private:
                        /** Constructor */
                        CVectorField2D();
                        /** Constructor with a initial set of lines. */
                        CVectorField2D( CMatrixFloat Matrix_x, CMatrixFloat Matrix_y, float     xmin=-1, float xmax=1, float ymin=-1, float ymax=1);
                        /** Private, virtual destructor: only can be deleted from smart pointers. */
                        virtual ~CVectorField2D() { }
                };
                DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CVectorField2D, CRenderizableDisplayList, OPENGL_IMPEXP )


        } // end namespace

} // End of namespace


#endif