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SurgSim::Graphics::OsgOctreeRepresentation Class Reference

OSG octree representation, implements an OctreeRepresenation using OSG. More...

#include <SurgSim/Graphics/OsgOctreeRepresentation.h>

Inheritance diagram for SurgSim::Graphics::OsgOctreeRepresentation:
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Public Member Functions

 OsgOctreeRepresentation (const std::string &name)
 Constructor. More...
 
 ~OsgOctreeRepresentation ()
 Destructor. More...
 
 SURGSIM_CLASSNAME (SurgSim::Graphics::OsgOctreeRepresentation)
 
virtual void doUpdate (double dt) override
 Executes the update operation. More...
 
virtual void setOctreeShape (const std::shared_ptr< SurgSim::Math::Shape > &shape) override
 Set the OctreeShape of this representation. More...
 
virtual std::shared_ptr
< SurgSim::Math::OctreeShape
getOctreeShape () const override
 
virtual void setNodeVisible (const SurgSim::DataStructures::OctreePath &path, bool visibility) override
 Mark the OctreeNode visible/invisible in the given a OctreePath (typedef-ed in OctreeNode.h). More...
 
- Public Member Functions inherited from SurgSim::Graphics::OctreeRepresentation
 OctreeRepresentation (const std::string &name)
 Constructor. More...
 
virtual ~OctreeRepresentation ()
 Destructor. More...
 
- Public Member Functions inherited from SurgSim::Graphics::Representation
 Representation (const std::string &name)
 Constructor. More...
 
virtual ~Representation ()
 Destructor. More...
 
virtual void setLocalActive (bool val) override
 Set the component's active state. More...
 
virtual bool addGroupReference (const std::string &name)
 Add a reference to a group, this will eventual add this representation to the group with the the same name. More...
 
void addGroupReferences (const std::vector< std::string > &groups)
 Adds a list of group references. More...
 
void setGroupReferences (const std::vector< std::string > &groups)
 Sets the list of group references. More...
 
void setGroupReference (const std::string &group)
 Helper functions, this clears all the references and sets, only the reference given in the parameter. More...
 
std::vector< std::string > getGroupReferences ()
 Gets group references. More...
 
bool removeGroupReference (const std::string &group)
 Function to remove an unwanted reference. More...
 
void clearGroupReferences ()
 Clear all the Group references. More...
 
- Public Member Functions inherited from SurgSim::Framework::Representation
 Representation (const std::string &name)
 Constructor. More...
 
virtual void setLocalPose (const SurgSim::Math::RigidTransform3d &pose)
 Set the pose of the representation with respect to the Scene Element. More...
 
virtual
SurgSim::Math::RigidTransform3d 
getLocalPose () const
 Get the pose of the representation with respect to the Scene Element. More...
 
virtual
SurgSim::Math::RigidTransform3d 
getPose () const
 Get the pose of the representation in world coordinates. More...
 
- Public Member Functions inherited from SurgSim::Framework::Component
 Component (const std::string &name)
 Constructor. More...
 
virtual ~Component ()
 Destructor. More...
 
std::string getName () const
 Gets component name. More...
 
void setName (const std::string &name)
 Sets the name of component. More...
 
boost::uuids::uuid getUuid () const
 Gets the id of the component. More...
 
bool isInitialized () const
 
bool initialize (const std::weak_ptr< Runtime > &runtime)
 Initialize this component, this needs to be called before wakeUp() can be called. More...
 
bool isAwake () const
 
bool wakeUp ()
 Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...
 
void setScene (std::weak_ptr< Scene > scene)
 Sets the scene. More...
 
std::shared_ptr< ScenegetScene ()
 Gets the scene. More...
 
void setSceneElement (std::weak_ptr< SceneElement > sceneElement)
 Sets the scene element. More...
 
std::shared_ptr< SceneElementgetSceneElement ()
 Gets the scene element. More...
 
std::shared_ptr< const
SceneElement
getSceneElement () const
 Gets the scene element, constant version. More...
 
std::shared_ptr< RuntimegetRuntime () const
 Get the runtime which contains this component. More...
 
virtual std::string getClassName () const
 The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...
 
std::shared_ptr< ComponentgetSharedPtr ()
 Gets a shared pointer to this component. More...
 
bool isActive () const
 
bool isLocalActive () const
 
- Public Member Functions inherited from SurgSim::Framework::Accessible
 Accessible ()
 Default Constructor. More...
 
 ~Accessible ()
 Destructor. More...
 
template<class T >
getValue (const std::string &name) const
 Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...
 
boost::any getValue (const std::string &name) const
 Retrieves the value with the name by executing the getter if it is found. More...
 
template<class T >
bool getValue (const std::string &name, T *value) const
 Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...
 
void setValue (const std::string &name, const boost::any &value)
 Sets a value of a property that has setter. More...
 
bool isReadable (const std::string &name) const
 Check whether a property is readable. More...
 
bool isWriteable (const std::string &name) const
 Check whether a property is writable. More...
 
void setGetter (const std::string &name, GetterType func)
 Sets a getter for a given property. More...
 
void setSetter (const std::string &name, SetterType func)
 Sets a setter for a given property. More...
 
void setAccessors (const std::string &name, GetterType getter, SetterType setter)
 Sets the accessors getter and setter in one function. More...
 
void removeAccessors (const std::string &name)
 Removes all the accessors (getter and setter) for a given property. More...
 
void forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
 Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...
 
void setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
 Sets the functions used to convert data from and to a YAML::Node. More...
 
YAML::Node encode () const
 Encode this Accessible to a YAML::Node. More...
 
void decode (const YAML::Node &node)
 Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...
 
template<>
boost::any getValue (const std::string &name) const
 
- Public Member Functions inherited from SurgSim::Graphics::OsgRepresentation
 OsgRepresentation (const std::string &name)
 Constructor. More...
 
virtual ~OsgRepresentation ()
 Destructor. More...
 
osg::ref_ptr< osg::Node > getOsgNode () const
 Returns the root OSG Node for this representations portion of the scene graph. More...
 
virtual void setVisible (bool visible) override
 Sets whether the representation is currently visible. More...
 
virtual bool isVisible () const override
 Gets whether the representation is currently visible. More...
 
virtual bool setMaterial (std::shared_ptr< Material > material) override
 Sets the material that defines the visual appearance of the representation. More...
 
virtual std::shared_ptr< MaterialgetMaterial () const override
 Gets the material that defines the visual appearance of the representation. More...
 
virtual void clearMaterial () override
 Removes the material from the representation. More...
 
virtual void setDrawAsWireFrame (bool val) override
 Sets the representation to render as a wire frame. More...
 
virtual bool getDrawAsWireFrame () const override
 Return if the representation is rendered as a wire frame. More...
 
virtual void update (double dt) override
 Updates the representation. More...
 

Private Member Functions

void buildOctree (osg::ref_ptr< osg::PositionAttitudeTransform > parentTransformNode, std::shared_ptr< SurgSim::Math::OctreeShape::NodeType > octree)
 Draw the Octree associated with this OSG representation. More...
 

Static Private Member Functions

static std::shared_ptr
< OsgUnitBox
getSharedUnitBox ()
 Returns the shared unit box. More...
 

Private Attributes

std::shared_ptr< OsgUnitBoxm_sharedUnitBox
 Shared unit box, so that the geometry can be instanced rather than having multiple copies. More...
 
std::shared_ptr
< SurgSim::Math::OctreeShape
m_octreeShape
 The OctreeShape whose Octree will be visualized. More...
 

Additional Inherited Members

- Public Types inherited from SurgSim::Framework::Component
typedef
SurgSim::Framework::ObjectFactory1
< SurgSim::Framework::Component,
std::string > 
FactoryType
 
- Public Types inherited from SurgSim::Framework::Accessible
typedef std::function
< boost::any(void)> 
GetterType
 
typedef std::function< void(boost::any)> SetterType
 
typedef std::function
< YAML::Node(void)> 
EncoderType
 
typedef std::function< void(const
YAML::Node *)> 
DecoderType
 
- Static Public Member Functions inherited from SurgSim::Framework::Component
static FactoryTypegetFactory ()
 
- Static Public Attributes inherited from SurgSim::Graphics::Representation
static const std::string DefaultGroupName = "__OssDefault__"
 
static const std::string DefaultHudGroupName = "__OssDefaulHud__"
 
- Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr
< PoseComponent
getPoseComponent ()
 Get the PoseComponent for this component. More...
 
virtual std::shared_ptr< const
PoseComponent
getPoseComponent () const
 Get the PoseComponent for this component, constant access. More...
 
- Protected Attributes inherited from SurgSim::Graphics::Representation
bool m_isVisible
 
- Protected Attributes inherited from SurgSim::Graphics::OsgRepresentation
osg::ref_ptr< osg::Switch > m_switch
 Switch used to toggle the visibility of the representation. More...
 
osg::ref_ptr
< osg::PositionAttitudeTransform > 
m_transform
 Transform used to pose the representation. More...
 
std::shared_ptr< OsgMaterialm_material
 Material defining the visual appearance of the representation. More...
 
bool m_drawAsWireFrame
 Indicates if the representation is rendered as a wireframe. More...
 

Detailed Description

OSG octree representation, implements an OctreeRepresenation using OSG.

Given a OctreeShape, this representation will copy the Octree instead of sharing the Octree (with the OctreeShape). Wake up call on this representation will fail if no octree is held. That is to say, setOctree() method MUST be called before WakeUp() to make this representation work properly. The OSG tree corresponds to the Octree will be built only once at wake up and can not be changed once awake.

Constructor & Destructor Documentation

SurgSim::Graphics::OsgOctreeRepresentation::OsgOctreeRepresentation ( const std::string &  name)
explicit

Constructor.

Parameters
nameName of OsgOctreeRepresentation
SurgSim::Graphics::OsgOctreeRepresentation::~OsgOctreeRepresentation ( )

Destructor.

Member Function Documentation

void SurgSim::Graphics::OsgOctreeRepresentation::buildOctree ( osg::ref_ptr< osg::PositionAttitudeTransform >  parentTransformNode,
std::shared_ptr< SurgSim::Math::OctreeShape::NodeType octree 
)
private

Draw the Octree associated with this OSG representation.

Parameters
parentTransformNodeThe osg::PositionAttitudeTransform node under which either the octreeNode or its children will be drawn.
octreeThe octree to be drawn.
void SurgSim::Graphics::OsgOctreeRepresentation::doUpdate ( double  dt)
overridevirtual

Executes the update operation.

Parameters
dtThe time step

Reimplemented from SurgSim::Graphics::OsgRepresentation.

std::shared_ptr< SurgSim::Math::OctreeShape > SurgSim::Graphics::OsgOctreeRepresentation::getOctreeShape ( ) const
overridevirtual
Returns
The OctreeShape from which the Octree is retrieved.

Implements SurgSim::Graphics::OctreeRepresentation.

std::shared_ptr< SurgSim::Graphics::OsgUnitBox > SurgSim::Graphics::OsgOctreeRepresentation::getSharedUnitBox ( )
staticprivate

Returns the shared unit box.

void SurgSim::Graphics::OsgOctreeRepresentation::setNodeVisible ( const SurgSim::DataStructures::OctreePath path,
bool  visibility 
)
overridevirtual

Mark the OctreeNode visible/invisible in the given a OctreePath (typedef-ed in OctreeNode.h).

Parameters
pathAn OctreePath, giving the path leads to the OctreeNode whose visibility to be changed.
visibilityWhether or not the OctreeNode specified by 'path' is visible or not.

Implements SurgSim::Graphics::OctreeRepresentation.

void SurgSim::Graphics::OsgOctreeRepresentation::setOctreeShape ( const std::shared_ptr< SurgSim::Math::Shape > &  shape)
overridevirtual

Set the OctreeShape of this representation.

The Octree is retrieved and visualized.

Parameters
shapeThe OctreeShape from which the octree is retrieved and visualized.

Implements SurgSim::Graphics::OctreeRepresentation.

SurgSim::Graphics::OsgOctreeRepresentation::SURGSIM_CLASSNAME ( SurgSim::Graphics::OsgOctreeRepresentation  )

Member Data Documentation

std::shared_ptr<SurgSim::Math::OctreeShape> SurgSim::Graphics::OsgOctreeRepresentation::m_octreeShape
private

The OctreeShape whose Octree will be visualized.

std::shared_ptr<OsgUnitBox> SurgSim::Graphics::OsgOctreeRepresentation::m_sharedUnitBox
private

Shared unit box, so that the geometry can be instanced rather than having multiple copies.


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