The QTOpenGL user functions. More...

#include <qtopengl_user_functions.h>

Inheritance diagram for argos::CQTOpenGLUserFunctions:

Collaboration diagram for argos::CQTOpenGLUserFunctions:

Classes
class	CFunctionHolder
	The base function holder. More...

class	CFunctionHolderImpl
	The actual function holder. More...

Public Member Functions
	CQTOpenGLUserFunctions ()
	Class constructor. More...

virtual	~CQTOpenGLUserFunctions ()
	Class destructor. More...

virtual void	Init (TConfigurationNode &t_tree)
	Initializes the resource. More...

virtual void	Reset ()
	Resets the resource. More...

virtual void	Destroy ()
	Undoes whatever was done by Init(). More...

virtual void	KeyPressed (QKeyEvent *pc_event)
	Called when a key press event occurs. More...

virtual void	KeyReleased (QKeyEvent *pc_event)
	Called when a key release event occurs. More...

virtual void	MouseKeyPressed (QMouseEvent *pc_event)
	Called when a mouse key is pressed. More...

virtual void	MouseKeyReleased (QMouseEvent *pc_event)
	Called when a mouse key is released. More...

virtual void	MouseMoved (QMouseEvent *pc_event)
	Called when the mouse is moved. More...

virtual void	EntitySelected (CEntity &c_entity)
	Called every time an entity is selected. More...

virtual void	EntityDeselected (CEntity &c_entity)
	Called every time an entity is deselected. More...

CEntity *	GetSelectedEntity ()
	Returns the currently selected entity, or NULL. More...

virtual void	SelectEntity (CEntity &c_entity)
	Selects the specified entity. More...

virtual void	DeselectEntity ()
	Deselects the currently selected entity. More...

virtual void	Draw (CFloorEntity &c_entity)
	Drawing hook executed after the floor is drawn. More...

virtual void	DrawInWorld ()
	Drawing hook executed after all objects have been drawn. More...

virtual void	DrawOverlay (QPainter &c_painter)
	Drawing hook to put graphics on top of the OpenGL window. More...

CQTOpenGLMainWindow &	GetMainWindow ()
	Returns the QTOpenGL main window. More...

void	SetMainWindow (CQTOpenGLMainWindow &c_main_win)
	Sets the QTOpenGL main window for these user functions. More...

CQTOpenGLWidget &	GetQTOpenGLWidget ()
	Returns the QTOpenGLWidget. More...

void	SetColor (const CColor &c_color)
	Sets the current drawing color. More...

void	DrawPoint (const CVector3 &c_position, const CColor &c_color=CColor::RED, Real f_diameter=5.0)
	Draws a point. More...

void	DrawTriangle (const CVector3 &c_position, const CQuaternion &c_orientation, Real f_base, Real f_height, const CColor &c_color=CColor::RED, const bool b_fill=true)
	Draws an isosceles triangle. More...

void	DrawPolygon (const CVector3 &c_position, const CQuaternion &c_orientation, const std::vector< CVector2 > &vec_points, const CColor &c_color=CColor::RED, const bool b_fill=true)
	Draws a 2D polygon. More...

void	DrawCircle (const CVector3 &c_position, const CQuaternion &c_orientation, Real f_radius, const CColor &c_color=CColor::RED, const bool b_fill=true, GLuint un_vertices=20)
	Draws a circle. More...

void	DrawCylinder (const CVector3 &c_position, const CQuaternion &c_orientation, Real f_radius, Real f_height, const CColor &c_color=CColor::RED, GLuint un_vertices=20)
	Draws a cylinder, with the height perpendicular to the XY plane. More...

void	DrawBox (const CVector3 &c_position, const CQuaternion &c_orientation, const CVector3 &c_size, const CColor &c_color=CColor::RED)
	Draws a box. More...

void	DrawRay (const CRay3 &c_ray, const CColor &c_color=CColor::RED, Real f_width=1.0f)
	Draws a ray, with optional endpoint markers. More...

void	DrawText (const CVector3 &c_position, const std::string &str_text, const CColor &c_color=CColor::BLACK, const QFont &c_font=QFont())
	Draws a string of text. More...

template<typename USER_IMPL , typename ENTITY >
void	RegisterUserFunction (void(USER_IMPL::*pt_function)(ENTITY &))
	Registers a user method. More...

virtual void	Call (CEntity &c_entity)
	Calls a user method for the given entity. More...

Public Member Functions inherited from argos::CBaseConfigurableResource
virtual	~CBaseConfigurableResource ()
	Class destructor. More...

Protected Types
typedef void(CQTOpenGLUserFunctions::*	TThunk) (CEntity &)
	Pointer-to-thunk type definition. More...

Protected Member Functions
template<typename USER_IMPL , typename ENTITY >
void	Thunk (CEntity &c_entity)
	A templetized thunk. More...

Protected Attributes
CVTable< CQTOpenGLUserFunctions, CEntity, TThunk >	m_cThunks
	The vtable storing the thunks. More...

std::vector< CFunctionHolder * >	m_vecFunctionHolders
	A vector of function holders. More...

Detailed Description

The QTOpenGL user functions.

The QTOpenGL user functions allows you to draw objects on the graphical widget that shows the 3D robot arena (CQTOpenGLWidget). You have three ways to draw stuff.

The first is to use DrawInWorld(). This method is called after everything else has been drawn in the 3D world, and it allows you to draw custom objects anywhere in the world. When you use this method, coordinates are relative to the origin of the 3D arena, and you must use OpenGL primitives.

The second way to draw custom stuff is to use DrawOverlay(). This method is called after DrawInWorld(). It allows you to draw stuff as overlay of the 3D arena widget. This method requires you to use the methods in the Qt class QPainter.

The third way to draw custom stuff is to define an entity-specific method, as follows:

class MyOpenGLUserFunctions : public CQTOpenGLUserFunctions {
public:
   MyOpenGLUserFunctions();
   void Draw(CFootBotEntity& c_entity);
   ...
};

The signature of the method must be as in the example, i.e., the return value must be void, and the function must have as a unique argument an entity (i.e., a descendant of CEntity). The actual name of the function (e.g., Draw) can be anything you like. To tell ARGoS to use this function, you need to register it in the class constructor as in this example:

MyOpenGLUserFunctions::MyOpenGLUserFunctions() {
   ...
   RegisterUserFunction<MyOpenGLUserFunctions,CFootBotEntity>(&MyOpenGLUserFunctions::Draw);
   ...
}

After registration, ARGoS will call your method right after drawing an entity of the corresponding type. The method allows you to draw additional information around the robot. You must use OpenGL primitives. The coordinate system is relative to the robot reference point, which, for robots, is usually its base.

Definition at line 74 of file qtopengl_user_functions.h.

Member Typedef Documentation

◆ TThunk

typedef void(CQTOpenGLUserFunctions::* argos::CQTOpenGLUserFunctions::TThunk) (CEntity &)

protected

Pointer-to-thunk type definition.

See also: Thunk

Definition at line 364 of file qtopengl_user_functions.h.

Constructor & Destructor Documentation

◆ CQTOpenGLUserFunctions()

argos::CQTOpenGLUserFunctions::CQTOpenGLUserFunctions ( )

Class constructor.

Definition at line 39 of file qtopengl_user_functions.cpp.

◆ ~CQTOpenGLUserFunctions()

argos::CQTOpenGLUserFunctions::~CQTOpenGLUserFunctions ( )

virtual

Class destructor.

Definition at line 48 of file qtopengl_user_functions.cpp.

Member Function Documentation

◆ Call()

void argos::CQTOpenGLUserFunctions::Call ( CEntity & c_entity )

virtual

Calls a user method for the given entity.

Parameters

The	method to pass as parameter.

Definition at line 488 of file qtopengl_user_functions.cpp.

◆ DeselectEntity()

void argos::CQTOpenGLUserFunctions::DeselectEntity ( )

virtual

Deselects the currently selected entity.

If no entity was selected, nothing is done.
If an entity was previously selected, EntityDeselected() is called for that entity.

Definition at line 86 of file qtopengl_user_functions.cpp.

◆ Destroy()

virtual void argos::CQTOpenGLUserFunctions::Destroy ( )

inlinevirtual

Undoes whatever was done by Init().

Implements argos::CBaseConfigurableResource.

Definition at line 90 of file qtopengl_user_functions.h.

◆ Draw()

virtual void argos::CQTOpenGLUserFunctions::Draw ( CFloorEntity & c_entity )

inlinevirtual

Drawing hook executed after the floor is drawn.

Definition at line 198 of file qtopengl_user_functions.h.

◆ DrawBox()

void argos::CQTOpenGLUserFunctions::DrawBox	(	const CVector3 &	c_position,
		const CQuaternion &	c_orientation,
		const CVector3 &	c_size,
		const CColor &	c_color = `CColor::RED`
	)

Draws a box.

By default the box is red and positioned in the origin. The reference system is positioned at the center of mass.

Parameters

c_position	The position of the box center.
c_orientation	The orientation of the box.
c_size	The size of the box.
c_color	The box color.

Definition at line 306 of file qtopengl_user_functions.cpp.

◆ DrawCircle()

void argos::CQTOpenGLUserFunctions::DrawCircle	(	const CVector3 &	c_position,
		const CQuaternion &	c_orientation,
		Real	f_radius,
		const CColor &	c_color = `CColor::RED`,
		const bool	b_fill = `true`,
		GLuint	un_vertices = `20`
	)

Draws a circle.

By default the circle is parallel to the XY plane and filled in red. The circle reference system is positioned at the circle center.

Parameters

c_position	The circle position.
c_orientation	The circle orientation.
f_radius	The circle radius.
c_color	The circle color.
b_fill	When `true`, the triangle is filled.
un_vertices	The number of vertices used to draw the circle.

Definition at line 220 of file qtopengl_user_functions.cpp.

◆ DrawCylinder()

void argos::CQTOpenGLUserFunctions::DrawCylinder	(	const CVector3 &	c_position,
		const CQuaternion &	c_orientation,
		Real	f_radius,
		Real	f_height,
		const CColor &	c_color = `CColor::RED`,
		GLuint	un_vertices = `20`
	)

Draws a cylinder, with the height perpendicular to the XY plane.

By default the cylinder is red and positioned in the origin. The reference system is positioned at the center of mass.

Parameters

c_position	The cylinder position.
c_orientation	The cylinder orientation of the cylinder.
f_radius	The cylinder radius.
f_height	The cylinder height.
c_color	The cylinder color.
un_vertices	The number of vertices used to draw the cylinder bases.

Definition at line 256 of file qtopengl_user_functions.cpp.

◆ DrawInWorld()

virtual void argos::CQTOpenGLUserFunctions::DrawInWorld ( )

inlinevirtual

Drawing hook executed after all objects have been drawn.

Use this hook to draw your own stuff in the world. You must use OpenGL primitives. Coordinates are expressed wrt the world's origin.

Definition at line 205 of file qtopengl_user_functions.h.

◆ DrawOverlay()

virtual void argos::CQTOpenGLUserFunctions::DrawOverlay ( QPainter & c_painter )

inlinevirtual

Drawing hook to put graphics on top of the OpenGL window.

Extend this method to draw stuff on top of the 3D graphical window. Use the methods in the Qt4 QPainter class to add all the stuff you want, such as text, shapes and so on.

Parameters

c_painter The QPainter object to draw the overlay.

Definition at line 214 of file qtopengl_user_functions.h.

◆ DrawPoint()

void argos::CQTOpenGLUserFunctions::DrawPoint	(	const CVector3 &	c_position,
		const CColor &	c_color = `CColor::RED`,
		Real	f_diameter = `5.0`
	)

Draws a point.

By default the point drawn in red.

Parameters

c_position	The point position.
c_color	The point color.
f_diameter	The point diameter.

Definition at line 130 of file qtopengl_user_functions.cpp.

◆ DrawPolygon()

void argos::CQTOpenGLUserFunctions::DrawPolygon	(	const CVector3 &	c_position,
		const CQuaternion &	c_orientation,
		const std::vector< CVector2 > &	vec_points,
		const CColor &	c_color = `CColor::RED`,
		const bool	b_fill = `true`
	)

Draws a 2D polygon.

By default the polygon is parallel to the XY plane and its fill color is red.

Parameters

c_position	The polygon position.
c_orientation	The polygon orientation.
vec_points	The polygon vertices.
c_color	The polygon color.
b_fill	When `true`, the polygon is filled.

Definition at line 184 of file qtopengl_user_functions.cpp.

◆ DrawRay()

void argos::CQTOpenGLUserFunctions::DrawRay	(	const CRay3 &	c_ray,
		const CColor &	c_color = `CColor::RED`,
		Real	f_width = `1.0f`
	)

Draws a ray, with optional endpoint markers.

By default the ray is drawn in red without end points markers. The end point markers default color is red.

Parameters

c_ray	The ray coordinates.
c_color	The ray color.
f_width	The ray width.

Definition at line 366 of file qtopengl_user_functions.cpp.

◆ DrawText()

void argos::CQTOpenGLUserFunctions::DrawText	(	const CVector3 &	c_position,
		const std::string &	str_text,
		const CColor &	c_color = `CColor::BLACK`,
		const QFont &	c_font = `QFont()`
	)

Draws a string of text.

By default the text is black and aligned left.

Parameters

c_position	The text position.
str_text	The text to display
c_color	The text color
c_font	A Qt font configuration

Definition at line 421 of file qtopengl_user_functions.cpp.

◆ DrawTriangle()

void argos::CQTOpenGLUserFunctions::DrawTriangle	(	const CVector3 &	c_position,
		const CQuaternion &	c_orientation,
		Real	f_base,
		Real	f_height,
		const CColor &	c_color = `CColor::RED`,
		const bool	b_fill = `true`
	)

Draws an isosceles triangle.

By default the triangle is parallel to the XY plane, equilateral, with the height along the X axis. The triangle reference system is positioned in at the center of the triangle base.

Parameters

c_position	The triangle position.
c_orientation	The triangle orientation.
f_base	The length of the triangle base.
f_height	The length of the triangle height.
c_color	The triangle color.
b_fill	When `true`, the triangle is filled.

Definition at line 151 of file qtopengl_user_functions.cpp.

◆ EntityDeselected()

virtual void argos::CQTOpenGLUserFunctions::EntityDeselected ( CEntity & c_entity )

inlinevirtual

Called every time an entity is deselected.

Parameters

c_entity The deselected entity.

Definition at line 170 of file qtopengl_user_functions.h.

◆ EntitySelected()

virtual void argos::CQTOpenGLUserFunctions::EntitySelected ( CEntity & c_entity )

inlinevirtual

Called every time an entity is selected.

Parameters

c_entity The selected entity.

Definition at line 164 of file qtopengl_user_functions.h.

◆ GetMainWindow()

CQTOpenGLMainWindow & argos::CQTOpenGLUserFunctions::GetMainWindow ( )

Returns the QTOpenGL main window.

Returns: The QTOpenGL main window.

Definition at line 93 of file qtopengl_user_functions.cpp.

◆ GetQTOpenGLWidget()

CQTOpenGLWidget & argos::CQTOpenGLUserFunctions::GetQTOpenGLWidget ( )

Returns the QTOpenGLWidget.

Returns: The QTOpenGLWidget.

Definition at line 107 of file qtopengl_user_functions.cpp.

◆ GetSelectedEntity()

CEntity * argos::CQTOpenGLUserFunctions::GetSelectedEntity ( )

Returns the currently selected entity, or NULL.

Definition at line 72 of file qtopengl_user_functions.cpp.

◆ Init()

virtual void argos::CQTOpenGLUserFunctions::Init ( TConfigurationNode & t_tree )

inlinevirtual

Initializes the resource.

Parameters

t_tree the base of the XML configuration tree to parse

Exceptions

CARGoSException if an error occurs

Implements argos::CBaseConfigurableResource.

Definition at line 88 of file qtopengl_user_functions.h.

◆ KeyPressed()

void argos::CQTOpenGLUserFunctions::KeyPressed ( QKeyEvent * pc_event )

virtual

Called when a key press event occurs.

The focus must be on the QTOpenGL widget. QTOpenGL reserves the following keys for camera movement:

arrows
Q W E A S D If this function does not manage a keypress, it must end by calling CQTOpenGLWidget::KeyPressed(). The default implementation calls CQTOpenGLWidget::KeyPressed().
Parameters

pc_event The key press event.

See also
QKeyEvent

Definition at line 58 of file qtopengl_user_functions.cpp.

◆ KeyReleased()

void argos::CQTOpenGLUserFunctions::KeyReleased ( QKeyEvent * pc_event )

virtual

Called when a key release event occurs.

The focus must be on the QTOpenGL widget. QTOpenGL reserves the following keys for camera movement:

arrows
Q W E A S D If this function does not manage a key release, it must end by calling CQTOpenGLWidget::KeyReleased(). The default implementation calls CQTOpenGLWidget::KeyReleased().
Parameters

pc_event The key release event.

See also
QKeyEvent

Definition at line 65 of file qtopengl_user_functions.cpp.

◆ MouseKeyPressed()

virtual void argos::CQTOpenGLUserFunctions::MouseKeyPressed ( QMouseEvent * pc_event )

inlinevirtual

Called when a mouse key is pressed.

The focus must be on the QTOpenGL widget.

QTOpenGL reserves the following events:

mouse pressed with no key modifier
mouse pressed while shift is pressed
mouse pressed while ctrl is pressed

Other combinations, e.g., mouse pressed while alt is pressed, are available.

Definition at line 133 of file qtopengl_user_functions.h.

◆ MouseKeyReleased()

virtual void argos::CQTOpenGLUserFunctions::MouseKeyReleased ( QMouseEvent * pc_event )

inlinevirtual

Called when a mouse key is released.

The focus must be on the QTOpenGL widget.

QTOpenGL reserves the following events:

mouse released with no key modifier
mouse released while shift is pressed
mouse released while ctrl is pressed

Other combinations, e.g., mouse released while alt is pressed, are available.

Definition at line 148 of file qtopengl_user_functions.h.

◆ MouseMoved()

virtual void argos::CQTOpenGLUserFunctions::MouseMoved ( QMouseEvent * pc_event )

inlinevirtual

Called when the mouse is moved.

The focus must be on the QTOpenGL widget.

QTOpenGL reserves the following events:

mouse moved while mouse is grabbed. This happens when the camera is being moved.

Definition at line 158 of file qtopengl_user_functions.h.

◆ RegisterUserFunction()

template<typename USER_IMPL , typename ENTITY >

void argos::CQTOpenGLUserFunctions::RegisterUserFunction ( void(USER_IMPL::*)(ENTITY &) pt_function )

Registers a user method.

Parameters

USER_IMPL	A user-defined subclass of CQTOpenGLUserFunctions.
ENTITY	The entity type to pass as a parameter to the user-defined method.
pt_function	The actual user-defined pointer-to-method.

Definition at line 461 of file qtopengl_user_functions.h.

◆ Reset()

virtual void argos::CQTOpenGLUserFunctions::Reset ( )

inlinevirtual

Resets the resource.

Implements argos::CBaseConfigurableResource.

Definition at line 89 of file qtopengl_user_functions.h.

◆ SelectEntity()

void argos::CQTOpenGLUserFunctions::SelectEntity ( CEntity & c_entity )

virtual

Selects the specified entity.

If no entity was previously selected, the specified entity is selected and EntitySelected() is called.
If an entity was previously selected, EntityDeselected() is called for that entity; then, the specified entity is selected and EntitySelected() is called.

Definition at line 79 of file qtopengl_user_functions.cpp.

◆ SetColor()

void argos::CQTOpenGLUserFunctions::SetColor ( const CColor & c_color )

Sets the current drawing color.

Parameters

c_color The desired color.

Definition at line 114 of file qtopengl_user_functions.cpp.

◆ SetMainWindow()

void argos::CQTOpenGLUserFunctions::SetMainWindow ( CQTOpenGLMainWindow & c_main_win )

Sets the QTOpenGL main window for these user functions.

Parameters

c_widget The QTOpenGL main window.

Definition at line 100 of file qtopengl_user_functions.cpp.

◆ Thunk()

template<typename USER_IMPL , typename ENTITY >

void argos::CQTOpenGLUserFunctions::Thunk ( CEntity & c_entity )

protected

A templetized thunk.

This is a trampoline function that internally performs the dispatch to a user-defined method.

Parameters

USER_IMPL	A user-defined subclass of CQTOpenGLUserFunctions.
ENTITY	The entity type to pass as a parameter to the user-defined method.
c_entity	The entity to pass as parameter.

See also: TThunk

Definition at line 441 of file qtopengl_user_functions.h.

Member Data Documentation

◆ m_cThunks

CVTable<CQTOpenGLUserFunctions, CEntity, TThunk> argos::CQTOpenGLUserFunctions::m_cThunks

protected

The vtable storing the thunks.

See also: TThunk; Thunk

Definition at line 403 of file qtopengl_user_functions.h.

◆ m_vecFunctionHolders

std::vector<CFunctionHolder*> argos::CQTOpenGLUserFunctions::m_vecFunctionHolders

protected

A vector of function holders.

See also: CFunctionHolder

Definition at line 409 of file qtopengl_user_functions.h.

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ TThunk

Constructor & Destructor Documentation

◆ CQTOpenGLUserFunctions()

◆ ~CQTOpenGLUserFunctions()

Member Function Documentation

◆ Call()

◆ DeselectEntity()

◆ Destroy()

◆ Draw()

◆ DrawBox()

◆ DrawCircle()

◆ DrawCylinder()

◆ DrawInWorld()

◆ DrawOverlay()

◆ DrawPoint()

◆ DrawPolygon()

◆ DrawRay()

◆ DrawText()

◆ DrawTriangle()

◆ EntityDeselected()

◆ EntitySelected()

◆ GetMainWindow()

◆ GetQTOpenGLWidget()

◆ GetSelectedEntity()

◆ Init()

◆ KeyPressed()

◆ KeyReleased()

◆ MouseKeyPressed()

◆ MouseKeyReleased()

◆ MouseMoved()

◆ RegisterUserFunction()

◆ Reset()

◆ SelectEntity()

◆ SetColor()

◆ SetMainWindow()

◆ Thunk()

Member Data Documentation

◆ m_cThunks

◆ m_vecFunctionHolders