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PointCloudRepresentation.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_GRAPHICS_POINTCLOUDREPRESENTATION_H
17 #define SURGSIM_GRAPHICS_POINTCLOUDREPRESENTATION_H
18 
19 #include <memory>
20 
25 #include "SurgSim/Math/Vector.h"
26 
27 namespace SurgSim
28 {
29 namespace Graphics
30 {
31 
33 
36 {
37 public:
38 
40  explicit PointCloudRepresentation(const std::string& name);
41 
42  virtual ~PointCloudRepresentation();
43 
46  virtual std::shared_ptr<PointCloud> getVertices() const = 0;
47 
50  virtual void setPointSize(double val) = 0;
51 
54  virtual double getPointSize() const = 0;
55 
58  virtual void setColor(const SurgSim::Math::Vector4d& color) = 0;
59 
62  virtual SurgSim::Math::Vector4d getColor() const = 0;
63 };
64 
65 }; // Graphics
66 }; // SurgSim
67 
68 #endif // SURGSIM_GRAPHICS_POINTCLOUDREPRESENTATION_H
virtual ~PointCloudRepresentation()
Definition: PointCloudRepresentation.cpp:31
PointCloudRepresentation(const std::string &name)
Constructor.
Definition: PointCloudRepresentation.cpp:25
Graphic representation of a point cloud, hase a very basic interface and is intentionally kept generi...
Definition: PointCloudRepresentation.h:35
This contains a series of functions to encode and decode Eigen data structures to and from YAML nodes...
virtual void setColor(const SurgSim::Math::Vector4d &color)=0
Sets a color for all of the points together.
virtual SurgSim::Math::Vector4d getColor() const =0
Gets the color.
Base graphics representation class, which defines the interface that all graphics representations mus...
Definition: Representation.h:39
Definitions of small fixed-size vector types.
virtual void setPointSize(double val)=0
Sets point size for the point elements.
virtual double getPointSize() const =0
Gets point size.
SurgSim::DataStructures::Vertices< SurgSim::DataStructures::EmptyData > PointCloud
Definition: PointCloudRepresentation.h:32
Eigen::Matrix< double, 4, 1 > Vector4d
A 4D vector of doubles.
Definition: Vector.h:60
Base class for mesh structures, handling basic vertex functionality.
Definition: Vertices.h:50
virtual std::shared_ptr< PointCloud > getVertices() const =0
Pull the vertices.