cajun::simulation_draw_t Class Reference

#include <simulation_draw.H>

Inheritance diagram for cajun::simulation_draw_t:

List of all members.

Public Member Functions
	simulation_draw_t (double cbviz_origin_pos[3], char const *robot_model_file, char const *conf_filename, char const *rndf_filename, char const *vision_file_, char const *lane_markings_file, char const *indices_file_, char const *vertices_file_, char const *static_file_, char const *static_las_file_, char const *geotiff_dir_, char const *camera_script_file, int viz_mode, int utm_zone, world_state_t *ws_, graphic_interface_t *interface_)
virtual	~simulation_draw_t ()
void	load_terrain_textures (char const *terrain_texture_file, char const *sky_terrain_file)
void	load_context_data ()
Public Attributes
draw_robot_t *	m_robot_viz
Private Member Functions
void	draw_fog ()
void	write_control_data ()
void	write_playback_data ()
void	dynamic_data ()
void	intra_update_data ()
void	update_data ()
void	update_data2 ()
void	update_data3 ()
void	draw ()
void	draw2 ()
void	draw3 ()
void	reshape (int w, int h)
void	reshape2 (int w, int h)
void	reshape3 (int w, int h)
void	normalKey_callback (int key, int x, int y, int mod)
void	controlKey_callback (int key, int x, int y, int mod)
void	mousemotion_callback (int x, int y)
void	mousebutton_callback (int button, int state, int x, int y, int mod)
bool	check_video_display ()
bool	check_ctrl_panel_display ()
void	BuildTerrain ()
void	display_guide ()
void	draw_compass ()
Private Attributes
double	m_projection_dist
double	m_projection_height
double	m_prev_time
double	m_elapsed_time
unsigned	m_frame_count
proj_t	m_proj
rndf_t const *	m_rndf
char const *	m_rndf_filename
int	m_utm_zone
int	m_viz_mode
bool	m_static_mode
graphic_interface_t *	m_interface_
std::vector < component_interface_t * >	m_components
control_panel_window_t *	m_control_panel_window
bitmap_window_t *	m_bitmap_window
world_state_t *	m_world_state
access_data_t *	m_access_data
guide_data_t	m_guide_data
playback_control_data_t	m_playback_control_data
control_data_t	m_control_data
cb_time_t	m_timer
double	m_cbviz_origin [3]
draw_path_wp_t *	m_draw_path_0_wp
draw_path_wp_t *	m_draw_path_1_wp
draw_path_wp_t *	m_draw_path_2_wp
draw_path_exploration_t *	m_draw_path_exploration
draw_grid_tile_t *	m_draw_search_grid
draw_grid_tile_t *	m_draw_map_grid
draw_mesh_cell_t *	m_draw_mesh_cell
draw_rndf_t *	m_draw_rndf
monovision_visualization_t *	m_draw_lane_data
draw_map_t *	m_draw_map
draw_iteris_t *	m_draw_iteris
draw_iteris_gp_t *	m_draw_iteris_gp
draw_rndf_lane_t *	m_draw_rndf_lane
draw_rndf_file_t *	m_draw_rndf_file
draw_blocked_lanes_t *	m_draw_blocked_lanes
draw_scan_lane_gp_t *	m_draw_scan_lane_gp
draw_survey_gp_t *	m_draw_survey_gp
draw_static_scangp_t *	m_draw_static_scangp
draw_static_las_t *	m_draw_static_las
draw_static_triangles_t *	m_draw_static_triangles
draw_camera_splines_t *	m_draw_camera_splines
std::vector< draw_obstacles_t * >	m_obstacle_visualization
std::vector < laser_visualization_t * >	m_laser_visualization
std::vector< draw_scan_gp_t * >	m_scan_gp_visualization
std::vector< draw_triangles_t * >	m_triangle_visualization
std::vector < draw_obstacle_points_t * >	m_obstacle_points_visualization
simview_t::simview_interface_t *	m_simview_interface
Model *	m_pTerrain
Model *	m_pSky
bool	m_ground_texture
bool	m_sky_texture
bool	m_show_fps
bool	m_display_guide
bool	m_display_coordinate_axes
bool	m_display_compass
double	m_ref_pos [3]
double	m_ground_ref_height
double	m_ref_orientation [3]

---

Constructor & Destructor Documentation

simulation_draw_t::simulation_draw_t	(	double	cbviz_origin_pos[3],
		char const *	robot_model_file,
		char const *	conf_filename,
		char const *	rndf_filename,
		char const *	vision_file_,
		char const *	lane_markings_file,
		char const *	indices_file_,
		char const *	vertices_file_,
		char const *	static_file_,
		char const *	static_las_file_,
		char const *	geotiff_dir_,
		char const *	camera_script_file,
		int	viz_mode,
		int	utm_zone,
		world_state_t *	ws_,
		graphic_interface_t *	interface_
	)

References cajun::color_node_t::b, cajun::bitmap_window_t::create_window(), cajun::control_panel_window_t::create_window(), FOVY, cajun::color_node_t::g, m_bitmap_window, m_cbviz_origin, m_components, m_control_data, m_control_panel_window, m_display_compass, m_display_coordinate_axes, m_display_guide, m_draw_blocked_lanes, m_draw_camera_splines, m_draw_iteris, m_draw_iteris_gp, m_draw_lane_data, m_draw_map, m_draw_map_grid, m_draw_mesh_cell, m_draw_path_0_wp, m_draw_path_1_wp, m_draw_path_2_wp, m_draw_path_exploration, m_draw_rndf, m_draw_rndf_file, m_draw_rndf_lane, m_draw_scan_lane_gp, m_draw_search_grid, m_draw_static_las, m_draw_static_scangp, m_draw_static_triangles, m_draw_survey_gp, m_elapsed_time, m_frame_count, m_ground_ref_height, m_ground_texture, m_interface_, m_laser_visualization, m_obstacle_points_visualization, m_obstacle_visualization, m_playback_control_data, m_proj, m_projection_dist, m_projection_height, m_pSky, m_pTerrain, m_rndf, m_rndf_filename, m_robot_viz, m_scan_gp_visualization, m_show_fps, m_simview_interface, m_sky_texture, m_static_mode, m_triangle_visualization, m_utm_zone, m_viz_mode, m_world_state, NEAR, POSX, POSY, POSZ, cajun::progname, cajun::color_node_t::r, write_control_data(), and write_playback_data().

simulation_draw_t::~simulation_draw_t

(

)

[virtual]

References m_draw_blocked_lanes, m_draw_camera_splines, m_draw_iteris, m_draw_iteris_gp, m_draw_lane_data, m_draw_map, m_draw_map_grid, m_draw_mesh_cell, m_draw_path_0_wp, m_draw_path_1_wp, m_draw_path_2_wp, m_draw_path_exploration, m_draw_rndf, m_draw_rndf_file, m_draw_rndf_lane, m_draw_scan_lane_gp, m_draw_search_grid, m_draw_static_las, m_draw_static_scangp, m_draw_static_triangles, m_draw_survey_gp, m_laser_visualization, m_obstacle_points_visualization, m_obstacle_visualization, m_pSky, m_pTerrain, m_robot_viz, m_scan_gp_visualization, m_simview_interface, and m_triangle_visualization.

---

Member Function Documentation

void simulation_draw_t::BuildTerrain

(

)

[private]

References Model::draw(), m_ground_ref_height, m_pSky, and m_pTerrain.

Referenced by draw().

bool simulation_draw_t::check_ctrl_panel_display

(

)

[private, virtual]

Reimplemented from cajun::drawing_t.

References m_control_panel_window.

bool simulation_draw_t::check_video_display

(

)

[private, virtual]

Reimplemented from cajun::drawing_t.

References cajun::bitmap_window_t::check_display(), and m_bitmap_window.

void simulation_draw_t::controlKey_callback	(	int	key,
		int	x,
		int	y,
		int	mod
	)			[private, virtual]

Implements cajun::drawing_t.

References cajun::CBCK_F4, cajun::control_panel_window_t::controlKey_callback(), m_control_data, m_control_panel_window, m_simview_interface, cajun::simview_t::simview_interface_t::pressControlKey(), and write_control_data().

void simulation_draw_t::display_guide

(

)

[private]

References cajun::draw_robot_t::get_robot_position(), m_cbviz_origin, m_guide_data, m_robot_viz, m_world_state, POSX, and POSY.

Referenced by draw().

void simulation_draw_t::draw

(

)

[private, virtual]

Implements cajun::drawing_t.

References BuildTerrain(), display_guide(), cajun::draw_axes(), draw_compass(), m_components, m_control_panel_window, m_display_compass, m_display_coordinate_axes, m_display_guide, m_elapsed_time, m_frame_count, m_ground_texture, m_prev_time, m_ref_orientation, m_ref_pos, m_show_fps, m_simview_interface, m_sky_texture, cajun::simview_t::simview_interface_t::move_lights(), cajun::simview_t::simview_interface_t::set_view(), and cajun::control_panel_window_t::update_fps().

void simulation_draw_t::draw2

(

)

[private, virtual]

Implements cajun::drawing_t.

void simulation_draw_t::draw3

(

)

[private, virtual]

Implements cajun::drawing_t.

References cajun::bitmap_window_t::display(), and m_bitmap_window.

void simulation_draw_t::draw_compass

(

)

[private]

References cajun::simview_t::simview_interface_t::get_camera_pos(), cajun::simview_t::simview_interface_t::get_camera_view_angles(), m_projection_dist, m_projection_height, and m_simview_interface.

Referenced by draw().

void cajun::simulation_draw_t::draw_fog

(

)

[private]

void simulation_draw_t::dynamic_data

(

)

[private, virtual]

Reimplemented from cajun::drawing_t.

References m_components.

void simulation_draw_t::intra_update_data

(

)

[private, virtual]

Reimplemented from cajun::drawing_t.

References m_components.

void simulation_draw_t::load_context_data

(

)

[virtual]

Implements cajun::drawing_t.

References Model::Init(), m_components, m_ground_texture, m_pSky, m_pTerrain, and m_sky_texture.

void simulation_draw_t::load_terrain_textures	(	char const *	terrain_texture_file,
		char const *	sky_terrain_file
	)			[virtual]

Implements cajun::drawing_t.

References cajun::loadMilkshapeModelData(), m_ground_texture, m_pSky, m_pTerrain, m_sky_texture, and cajun::progname.

void simulation_draw_t::mousebutton_callback	(	int	button,
		int	state,
		int	x,
		int	y,
		int	mod
	)			[private, virtual]

Implements cajun::drawing_t.

References m_control_panel_window, m_simview_interface, cajun::control_panel_window_t::mouse_callback(), and cajun::simview_t::simview_interface_t::mousebuttonhandler().

void simulation_draw_t::mousemotion_callback	(	int	x,
		int	y
	)			[private, virtual]

Implements cajun::drawing_t.

References m_simview_interface, and cajun::simview_t::simview_interface_t::mousemotionhandler().

void simulation_draw_t::normalKey_callback	(	int	key,
		int	x,
		int	y,
		int	mod
	)			[private, virtual]

Implements cajun::drawing_t.

References cajun::simview_t::simview_interface_t::get_camera_pos(), cajun::simview_t::simview_interface_t::get_camera_view(), m_bitmap_window, m_control_data, m_control_panel_window, m_draw_blocked_lanes, m_draw_camera_splines, m_draw_iteris, m_draw_iteris_gp, m_draw_lane_data, m_draw_map, m_draw_map_grid, m_draw_mesh_cell, m_draw_path_0_wp, m_draw_path_1_wp, m_draw_path_2_wp, m_draw_path_exploration, m_draw_rndf, m_draw_rndf_lane, m_draw_scan_lane_gp, m_draw_search_grid, m_draw_static_las, m_draw_static_scangp, m_draw_static_triangles, m_draw_survey_gp, m_interface_, m_laser_visualization, m_obstacle_points_visualization, m_obstacle_visualization, m_playback_control_data, m_robot_viz, m_scan_gp_visualization, m_simview_interface, m_triangle_visualization, cajun::draw_map_t::move_map_x(), cajun::draw_map_t::move_map_y(), cajun::control_panel_window_t::normalKey_callback(), cajun::bitmap_window_t::normalKey_callback(), cajun::simview_t::simview_interface_t::pressNormalKey(), cajun::progname, cajun::draw_robot_t::toggle_display(), cajun::draw_survey_gp_t::toggle_display(), cajun::draw_static_triangles_t::toggle_display(), cajun::draw_static_scangp_t::toggle_display(), cajun::draw_rndf_t::toggle_display(), cajun::draw_map_t::toggle_display(), cajun::monovision_visualization_t::toggle_display(), cajun::draw_static_las_t::toggle_display(), cajun::draw_scan_lane_gp_t::toggle_display(), cajun::draw_iteris_gp_t::toggle_display(), cajun::draw_iteris_t::toggle_display(), cajun::draw_grid_tile_t::toggle_display(), cajun::draw_path_wp_t::toggle_display(), cajun::draw_path_exploration_t::toggle_display(), cajun::draw_mesh_cell_t::toggle_display(), cajun::draw_camera_splines_t::toggle_display(), cajun::draw_blocked_lanes_t::toggle_display(), cajun::draw_rndf_lane_t::toggle_display(), write_control_data(), and write_playback_data().

void simulation_draw_t::reshape	(	int	w,
		int	h
	)			[private, virtual]

Implements cajun::drawing_t.

void simulation_draw_t::reshape2	(	int	w,
		int	h
	)			[private, virtual]

Implements cajun::drawing_t.

void simulation_draw_t::reshape3	(	int	w,
		int	h
	)			[private, virtual]

Implements cajun::drawing_t.

void simulation_draw_t::update_data

(

)

[private, virtual]

Reimplemented from cajun::drawing_t.

References cajun::draw_robot_t::get_robot_orientation_euler(), cajun::draw_robot_t::get_robot_position(), m_components, m_ref_orientation, m_ref_pos, m_robot_viz, and m_world_state.

void simulation_draw_t::update_data2

(

)

[private, virtual]

Reimplemented from cajun::drawing_t.

References m_control_panel_window, and cajun::control_panel_window_t::update_data().

void simulation_draw_t::update_data3

(

)

[private, virtual]

Reimplemented from cajun::drawing_t.

References cajun::bitmap_window_t::check_new_image(), and m_bitmap_window.

void simulation_draw_t::write_control_data

(

)

[private]

References m_control_data, m_control_panel_window, m_timer, and m_world_state.

Referenced by controlKey_callback(), normalKey_callback(), and simulation_draw_t().

void simulation_draw_t::write_playback_data

(

)

[private]

References m_control_panel_window, m_playback_control_data, m_timer, and m_world_state.

Referenced by normalKey_callback(), and simulation_draw_t().

---

Member Data Documentation

access_data_t* cajun::simulation_draw_t::m_access_data [private]

bitmap_window_t* cajun::simulation_draw_t::m_bitmap_window [private]

Referenced by check_video_display(), draw3(), normalKey_callback(), simulation_draw_t(), and update_data3().

double cajun::simulation_draw_t::m_cbviz_origin[3] [private]

Referenced by display_guide(), and simulation_draw_t().

std::vector<component_interface_t *> cajun::simulation_draw_t::m_components [private]

Referenced by draw(), dynamic_data(), intra_update_data(), load_context_data(), simulation_draw_t(), and update_data().

control_data_t cajun::simulation_draw_t::m_control_data [private]

Referenced by controlKey_callback(), normalKey_callback(), simulation_draw_t(), and write_control_data().

control_panel_window_t* cajun::simulation_draw_t::m_control_panel_window [private]

Referenced by check_ctrl_panel_display(), controlKey_callback(), draw(), mousebutton_callback(), normalKey_callback(), simulation_draw_t(), update_data2(), write_control_data(), and write_playback_data().

bool cajun::simulation_draw_t::m_display_compass [private]

Referenced by draw(), and simulation_draw_t().

bool cajun::simulation_draw_t::m_display_coordinate_axes [private]

Referenced by draw(), and simulation_draw_t().

bool cajun::simulation_draw_t::m_display_guide [private]

Referenced by draw(), and simulation_draw_t().

draw_blocked_lanes_t* cajun::simulation_draw_t::m_draw_blocked_lanes [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_camera_splines_t* cajun::simulation_draw_t::m_draw_camera_splines [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_iteris_t* cajun::simulation_draw_t::m_draw_iteris [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_iteris_gp_t* cajun::simulation_draw_t::m_draw_iteris_gp [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

monovision_visualization_t* cajun::simulation_draw_t::m_draw_lane_data [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_map_t* cajun::simulation_draw_t::m_draw_map [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_grid_tile_t* cajun::simulation_draw_t::m_draw_map_grid [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_mesh_cell_t* cajun::simulation_draw_t::m_draw_mesh_cell [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_path_wp_t* cajun::simulation_draw_t::m_draw_path_0_wp [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_path_wp_t* cajun::simulation_draw_t::m_draw_path_1_wp [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_path_wp_t* cajun::simulation_draw_t::m_draw_path_2_wp [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_path_exploration_t* cajun::simulation_draw_t::m_draw_path_exploration [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_rndf_t* cajun::simulation_draw_t::m_draw_rndf [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_rndf_file_t* cajun::simulation_draw_t::m_draw_rndf_file [private]

Referenced by simulation_draw_t(), and ~simulation_draw_t().

draw_rndf_lane_t* cajun::simulation_draw_t::m_draw_rndf_lane [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_scan_lane_gp_t* cajun::simulation_draw_t::m_draw_scan_lane_gp [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_grid_tile_t* cajun::simulation_draw_t::m_draw_search_grid [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_static_las_t* cajun::simulation_draw_t::m_draw_static_las [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_static_scangp_t* cajun::simulation_draw_t::m_draw_static_scangp [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_static_triangles_t* cajun::simulation_draw_t::m_draw_static_triangles [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

draw_survey_gp_t* cajun::simulation_draw_t::m_draw_survey_gp [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

double cajun::simulation_draw_t::m_elapsed_time [private]

Referenced by draw(), and simulation_draw_t().

unsigned cajun::simulation_draw_t::m_frame_count [private]

Referenced by draw(), and simulation_draw_t().

double cajun::simulation_draw_t::m_ground_ref_height [private]

Referenced by BuildTerrain(), and simulation_draw_t().

bool cajun::simulation_draw_t::m_ground_texture [private]

Referenced by draw(), load_context_data(), load_terrain_textures(), and simulation_draw_t().

guide_data_t cajun::simulation_draw_t::m_guide_data [private]

Referenced by display_guide().

graphic_interface_t* cajun::simulation_draw_t::m_interface_ [private]

Referenced by normalKey_callback(), and simulation_draw_t().

std::vector<laser_visualization_t *> cajun::simulation_draw_t::m_laser_visualization [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

std::vector<draw_obstacle_points_t *> cajun::simulation_draw_t::m_obstacle_points_visualization [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

std::vector<draw_obstacles_t *> cajun::simulation_draw_t::m_obstacle_visualization [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

playback_control_data_t cajun::simulation_draw_t::m_playback_control_data [private]

Referenced by normalKey_callback(), simulation_draw_t(), and write_playback_data().

double cajun::simulation_draw_t::m_prev_time [private]

Referenced by draw().

proj_t cajun::simulation_draw_t::m_proj [private]

Referenced by simulation_draw_t().

double cajun::simulation_draw_t::m_projection_dist [private]

Referenced by draw_compass(), and simulation_draw_t().

double cajun::simulation_draw_t::m_projection_height [private]

Referenced by draw_compass(), and simulation_draw_t().

Model* cajun::simulation_draw_t::m_pSky [private]

Referenced by BuildTerrain(), load_context_data(), load_terrain_textures(), simulation_draw_t(), and ~simulation_draw_t().

Model* cajun::simulation_draw_t::m_pTerrain [private]

Referenced by BuildTerrain(), load_context_data(), load_terrain_textures(), simulation_draw_t(), and ~simulation_draw_t().

double cajun::simulation_draw_t::m_ref_orientation[3] [private]

Referenced by draw(), and update_data().

double cajun::simulation_draw_t::m_ref_pos[3] [private]

Referenced by draw(), and update_data().

rndf_t const* cajun::simulation_draw_t::m_rndf [private]

Referenced by simulation_draw_t().

char const* cajun::simulation_draw_t::m_rndf_filename [private]

Referenced by simulation_draw_t().

draw_robot_t* cajun::simulation_draw_t::m_robot_viz

Referenced by display_guide(), normalKey_callback(), simulation_draw_t(), update_data(), and ~simulation_draw_t().

std::vector<draw_scan_gp_t *> cajun::simulation_draw_t::m_scan_gp_visualization [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

bool cajun::simulation_draw_t::m_show_fps [private]

Referenced by draw(), and simulation_draw_t().

simview_t::simview_interface_t* cajun::simulation_draw_t::m_simview_interface [private]

Referenced by controlKey_callback(), draw(), draw_compass(), mousebutton_callback(), mousemotion_callback(), normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

bool cajun::simulation_draw_t::m_sky_texture [private]

Referenced by draw(), load_context_data(), load_terrain_textures(), and simulation_draw_t().

bool cajun::simulation_draw_t::m_static_mode [private]

Referenced by simulation_draw_t().

cb_time_t cajun::simulation_draw_t::m_timer [private]

Referenced by write_control_data(), and write_playback_data().

std::vector<draw_triangles_t *> cajun::simulation_draw_t::m_triangle_visualization [private]

Referenced by normalKey_callback(), simulation_draw_t(), and ~simulation_draw_t().

int cajun::simulation_draw_t::m_utm_zone [private]

Referenced by simulation_draw_t().

int cajun::simulation_draw_t::m_viz_mode [private]

Referenced by simulation_draw_t().

world_state_t* cajun::simulation_draw_t::m_world_state [private]

Referenced by display_guide(), simulation_draw_t(), update_data(), write_control_data(), and write_playback_data().

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The documentation for this class was generated from the following files:

• simulation_draw.H
• simulation_draw.C