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Viewer.h
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1 //
2 // Copyright (c) 2009, Markus Rickert
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29 
30 #ifndef _RL_PLAN_VIEWER_H_
31 #define _RL_PLAN_VIEWER_H_
32 
33 #include <rl/math/Transform.h>
34 #include <rl/math/Vector.h>
35 
36 #include "VectorList.h"
37 
38 namespace rl
39 {
40  namespace plan
41  {
42  class Viewer
43  {
44  public:
45  Viewer();
46 
47  virtual ~Viewer();
48 
49  virtual void drawConfiguration(const ::rl::math::Vector& q) = 0;
50 
51  virtual void drawConfigurationEdge(const ::rl::math::Vector& q0, const ::rl::math::Vector& q1, const bool& free = true) = 0;
52 
53  virtual void drawConfigurationPath(const VectorList& path) = 0;
54 
55  virtual void drawConfigurationVertex(const ::rl::math::Vector& q, const bool& free = true) = 0;
56 
57  virtual void drawLine(const ::rl::math::Vector& xyz0, const ::rl::math::Vector& xyz1) = 0;
58 
59  virtual void drawPoint(const ::rl::math::Vector& xyz) = 0;
60 
61  virtual void drawSphere(const ::rl::math::Vector& center, const ::rl::math::Real& radius) = 0;
62 
63  virtual void drawWork(const ::rl::math::Transform& t) = 0;
64 
66 
67  virtual void drawWorkPath(const VectorList& path) = 0;
68 
69  virtual void drawWorkVertex(const ::rl::math::Vector& q) = 0;
70 
71  virtual void reset() = 0;
72 
73  virtual void resetEdges() = 0;
74 
75  virtual void resetLines() = 0;
76 
77  virtual void resetPoints() = 0;
78 
79  virtual void resetSpheres() = 0;
80 
81  virtual void resetVertices() = 0;
82 
83  protected:
84 
85  private:
86 
87  };
88  }
89 }
90 
91 #endif // VIEWER_H_