Class robot_dart::gui::magnum::BaseApplication¶

ClassList > robot_dart > gui > magnum > BaseApplication

Inherited by the following classes: robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::WindowlessGLApplication

Public Functions¶

Type	Name
	BaseApplication (const GraphicsConfiguration & configuration=GraphicsConfiguration())
void	add_light (const gs::Light & light)
bool	attach_camera (gs::Camera & camera, dart::dynamics::BodyNode * body)
gs::Camera &	camera ()
const gs::Camera &	camera () const
void	clear_lights ()
DebugDrawData	debug_draw_data ()
DepthImage	depth_array ()
GrayscaleImage	depth_image ()
bool	done () const
Magnum::SceneGraph::DrawableGroup3D &	drawables ()
void	enable_shadows (bool enable=true, bool drawTransparentShadows=false)
Corrade::Containers::Optional< Magnum::Image2D > &	image ()
void	init (RobotDARTSimu * simu, const GraphicsConfiguration & configuration)
gs::Light &	light (size_t i)
std::vector< gs::Light > &	lights ()
void	look_at (const Eigen::Vector3d & camera_pos, const Eigen::Vector3d & look_at, const Eigen::Vector3d & up)
size_t	num_lights () const
GrayscaleImage	raw_depth_image ()
void	record_video (const std::string & video_fname, int fps)
virtual void	render ()
void	render_shadows ()
Scene3D &	scene ()
bool	shadowed () const
bool	transparent_shadows () const
void	update_graphics ()
void	update_lights (const gs::Camera & camera)
virtual	~BaseApplication ()

Protected Attributes¶

Type	Name
std::unique_ptr< Magnum::GL::Mesh >	_3D_axis_mesh
std::unique_ptr< Magnum::Shaders::VertexColorGL3D >	_3D_axis_shader
std::unique_ptr< Magnum::GL::Mesh >	_background_mesh
std::unique_ptr< Magnum::Shaders::FlatGL2D >	_background_shader
std::unique_ptr< gs::Camera >	_camera
std::unique_ptr< gs::PhongMultiLight >	_color_shader
GraphicsConfiguration	_configuration
Magnum::SceneGraph::DrawableGroup3D	_cubemap_color_drawables
std::unique_ptr< gs::CubeMapColor >	_cubemap_color_shader
Magnum::SceneGraph::DrawableGroup3D	_cubemap_drawables
std::unique_ptr< gs::CubeMap >	_cubemap_shader
std::unique_ptr< gs::CubeMapColor >	_cubemap_texture_color_shader
std::unique_ptr< gs::CubeMap >	_cubemap_texture_shader
std::unique_ptr< Magnum::DartIntegration::World >	_dart_world
bool	_done = = false
std::unordered_map< Magnum::DartIntegration::Object , ObjectStruct* * >	_drawable_objects
Magnum::SceneGraph::DrawableGroup3D	_drawables
Corrade::Containers::Pointer< Magnum::Text::AbstractFont >	_font
Corrade::PluginManager::Manager< Magnum::Text::AbstractFont >	_font_manager
Corrade::Containers::Pointer< Magnum::Text::DistanceFieldGlyphCache >	_glyph_cache
Corrade::PluginManager::Manager< Magnum::Trade::AbstractImporter >	_importer_manager
std::vector< gs::Light >	_lights
int	_max_lights = = 5
Scene3D	_scene
std::unique_ptr< Camera3D >	_shadow_camera
Object3D *	_shadow_camera_object
std::unique_ptr< Magnum::GL::CubeMapTextureArray >	_shadow_color_cube_map
std::unique_ptr< gs::ShadowMapColor >	_shadow_color_shader
std::unique_ptr< Magnum::GL::Texture2DArray >	_shadow_color_texture
std::unique_ptr< Magnum::GL::CubeMapTextureArray >	_shadow_cube_map
std::vector< ShadowData >	_shadow_data
int	_shadow_map_size = = 512
std::unique_ptr< gs::ShadowMap >	_shadow_shader
std::unique_ptr< Magnum::GL::Texture2DArray >	_shadow_texture
std::unique_ptr< gs::ShadowMapColor >	_shadow_texture_color_shader
std::unique_ptr< gs::ShadowMap >	_shadow_texture_shader
bool	_shadowed = = true
Magnum::SceneGraph::DrawableGroup3D	_shadowed_color_drawables
Magnum::SceneGraph::DrawableGroup3D	_shadowed_drawables
RobotDARTSimu *	_simu
Corrade::Containers::Pointer< Magnum::GL::Buffer >	_text_indices
std::unique_ptr< Magnum::Shaders::DistanceFieldVectorGL2D >	_text_shader
Corrade::Containers::Pointer< Magnum::GL::Buffer >	_text_vertices
std::unique_ptr< gs::PhongMultiLight >	_texture_shader
int	_transparentSize = = 0
bool	_transparent_shadows = = false

Protected Functions¶

Type	Name
void	_gl_clean_up ()
void	_prepare_shadows ()

Public Functions Documentation¶

function BaseApplication¶

robot_dart::gui::magnum::BaseApplication::BaseApplication (
    const GraphicsConfiguration & configuration=GraphicsConfiguration ()
)

function add_light¶

void robot_dart::gui::magnum::BaseApplication::add_light (
    const gs::Light & light
)

function attach_camera¶

bool robot_dart::gui::magnum::BaseApplication::attach_camera (
    gs::Camera & camera,
    dart::dynamics::BodyNode * body
)

function camera [½]¶

inline gs::Camera & robot_dart::gui::magnum::BaseApplication::camera ()

function camera [2/2]¶

inline const gs::Camera & robot_dart::gui::magnum::BaseApplication::camera () const

function clear_lights¶

void robot_dart::gui::magnum::BaseApplication::clear_lights ()

function debug_draw_data¶

inline DebugDrawData robot_dart::gui::magnum::BaseApplication::debug_draw_data ()

function depth_array¶

DepthImage robot_dart::gui::magnum::BaseApplication::depth_array ()

function depth_image¶

GrayscaleImage robot_dart::gui::magnum::BaseApplication::depth_image ()

function done¶

bool robot_dart::gui::magnum::BaseApplication::done () const

function drawables¶

inline Magnum::SceneGraph::DrawableGroup3D & robot_dart::gui::magnum::BaseApplication::drawables ()

function enable_shadows¶

void robot_dart::gui::magnum::BaseApplication::enable_shadows (
    bool enable=true,
    bool drawTransparentShadows=false
)

function image¶

inline Corrade::Containers::Optional< Magnum::Image2D > & robot_dart::gui::magnum::BaseApplication::image ()

function init¶

void robot_dart::gui::magnum::BaseApplication::init (
    RobotDARTSimu * simu,
    const GraphicsConfiguration & configuration
)

function light¶

gs::Light & robot_dart::gui::magnum::BaseApplication::light (
    size_t i
)

function lights¶

std::vector< gs::Light > & robot_dart::gui::magnum::BaseApplication::lights ()

function look_at¶

void robot_dart::gui::magnum::BaseApplication::look_at (
    const Eigen::Vector3d & camera_pos,
    const Eigen::Vector3d & look_at,
    const Eigen::Vector3d & up
)

function num_lights¶

size_t robot_dart::gui::magnum::BaseApplication::num_lights () const

function raw_depth_image¶

GrayscaleImage robot_dart::gui::magnum::BaseApplication::raw_depth_image ()

function record_video¶

inline void robot_dart::gui::magnum::BaseApplication::record_video (
    const std::string & video_fname,
    int fps
)

function render¶

inline virtual void robot_dart::gui::magnum::BaseApplication::render ()

function render_shadows¶

void robot_dart::gui::magnum::BaseApplication::render_shadows ()

function scene¶

inline Scene3D & robot_dart::gui::magnum::BaseApplication::scene ()

function shadowed¶

inline bool robot_dart::gui::magnum::BaseApplication::shadowed () const

function transparent_shadows¶

inline bool robot_dart::gui::magnum::BaseApplication::transparent_shadows () const

function update_graphics¶

void robot_dart::gui::magnum::BaseApplication::update_graphics ()

function update_lights¶

void robot_dart::gui::magnum::BaseApplication::update_lights (
    const gs::Camera & camera
)

function ~BaseApplication¶

inline virtual robot_dart::gui::magnum::BaseApplication::~BaseApplication ()

Protected Attributes Documentation¶

variable _3D_axis_mesh¶

std::unique_ptr<Magnum::GL::Mesh> robot_dart::gui::magnum::BaseApplication::_3D_axis_mesh;

variable _3D_axis_shader¶

std::unique_ptr<Magnum::Shaders::VertexColorGL3D> robot_dart::gui::magnum::BaseApplication::_3D_axis_shader;

variable _background_mesh¶

std::unique_ptr<Magnum::GL::Mesh> robot_dart::gui::magnum::BaseApplication::_background_mesh;

variable _background_shader¶

std::unique_ptr<Magnum::Shaders::FlatGL2D> robot_dart::gui::magnum::BaseApplication::_background_shader;

variable _camera¶

std::unique_ptr<gs::Camera> robot_dart::gui::magnum::BaseApplication::_camera;

variable _color_shader¶

std::unique_ptr<gs::PhongMultiLight> robot_dart::gui::magnum::BaseApplication::_color_shader;

variable _configuration¶

GraphicsConfiguration robot_dart::gui::magnum::BaseApplication::_configuration;

variable _cubemap_color_drawables¶

Magnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_cubemap_color_drawables;

variable _cubemap_color_shader¶

std::unique_ptr<gs::CubeMapColor> robot_dart::gui::magnum::BaseApplication::_cubemap_color_shader;

variable _cubemap_drawables¶

Magnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_cubemap_drawables;

variable _cubemap_shader¶

std::unique_ptr<gs::CubeMap> robot_dart::gui::magnum::BaseApplication::_cubemap_shader;

variable _cubemap_texture_color_shader¶

std::unique_ptr<gs::CubeMapColor> robot_dart::gui::magnum::BaseApplication::_cubemap_texture_color_shader;

variable _cubemap_texture_shader¶

std::unique_ptr<gs::CubeMap> robot_dart::gui::magnum::BaseApplication::_cubemap_texture_shader;

variable _dart_world¶

std::unique_ptr<Magnum::DartIntegration::World> robot_dart::gui::magnum::BaseApplication::_dart_world;

variable _done¶

bool robot_dart::gui::magnum::BaseApplication::_done;

variable _drawable_objects¶

std::unordered_map<Magnum::DartIntegration::Object*, ObjectStruct*> robot_dart::gui::magnum::BaseApplication::_drawable_objects;

variable _drawables¶

Magnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_drawables;

variable _font¶

Corrade::Containers::Pointer<Magnum::Text::AbstractFont> robot_dart::gui::magnum::BaseApplication::_font;

variable _font_manager¶

Corrade::PluginManager::Manager<Magnum::Text::AbstractFont> robot_dart::gui::magnum::BaseApplication::_font_manager;

variable _glyph_cache¶

Corrade::Containers::Pointer<Magnum::Text::DistanceFieldGlyphCache> robot_dart::gui::magnum::BaseApplication::_glyph_cache;

variable _importer_manager¶

Corrade::PluginManager::Manager<Magnum::Trade::AbstractImporter> robot_dart::gui::magnum::BaseApplication::_importer_manager;

variable _lights¶

std::vector<gs::Light> robot_dart::gui::magnum::BaseApplication::_lights;

variable _max_lights¶

int robot_dart::gui::magnum::BaseApplication::_max_lights;

variable _scene¶

Scene3D robot_dart::gui::magnum::BaseApplication::_scene;

variable _shadow_camera¶

std::unique_ptr<Camera3D> robot_dart::gui::magnum::BaseApplication::_shadow_camera;

variable _shadow_camera_object¶

Object3D* robot_dart::gui::magnum::BaseApplication::_shadow_camera_object;

variable _shadow_color_cube_map¶

std::unique_ptr<Magnum::GL::CubeMapTextureArray> robot_dart::gui::magnum::BaseApplication::_shadow_color_cube_map;

variable _shadow_color_shader¶

std::unique_ptr<gs::ShadowMapColor> robot_dart::gui::magnum::BaseApplication::_shadow_color_shader;

variable _shadow_color_texture¶

std::unique_ptr<Magnum::GL::Texture2DArray> robot_dart::gui::magnum::BaseApplication::_shadow_color_texture;

variable _shadow_cube_map¶

std::unique_ptr<Magnum::GL::CubeMapTextureArray> robot_dart::gui::magnum::BaseApplication::_shadow_cube_map;

variable _shadow_data¶

std::vector<ShadowData> robot_dart::gui::magnum::BaseApplication::_shadow_data;

variable _shadow_map_size¶

int robot_dart::gui::magnum::BaseApplication::_shadow_map_size;

variable _shadow_shader¶

std::unique_ptr<gs::ShadowMap> robot_dart::gui::magnum::BaseApplication::_shadow_shader;

variable _shadow_texture¶

std::unique_ptr<Magnum::GL::Texture2DArray> robot_dart::gui::magnum::BaseApplication::_shadow_texture;

variable _shadow_texture_color_shader¶

std::unique_ptr<gs::ShadowMapColor> robot_dart::gui::magnum::BaseApplication::_shadow_texture_color_shader;

variable _shadow_texture_shader¶

std::unique_ptr<gs::ShadowMap> robot_dart::gui::magnum::BaseApplication::_shadow_texture_shader;

variable _shadowed¶

bool robot_dart::gui::magnum::BaseApplication::_shadowed;

variable _shadowed_color_drawables¶

Magnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_shadowed_color_drawables;

variable _shadowed_drawables¶

Magnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_shadowed_drawables;

variable _simu¶

RobotDARTSimu* robot_dart::gui::magnum::BaseApplication::_simu;

variable _text_indices¶

Corrade::Containers::Pointer<Magnum::GL::Buffer> robot_dart::gui::magnum::BaseApplication::_text_indices;

variable _text_shader¶

std::unique_ptr<Magnum::Shaders::DistanceFieldVectorGL2D> robot_dart::gui::magnum::BaseApplication::_text_shader;

variable _text_vertices¶

Corrade::Containers::Pointer<Magnum::GL::Buffer> robot_dart::gui::magnum::BaseApplication::_text_vertices;

variable _texture_shader¶

std::unique_ptr<gs::PhongMultiLight> robot_dart::gui::magnum::BaseApplication::_texture_shader;

variable _transparentSize¶

int robot_dart::gui::magnum::BaseApplication::_transparentSize;

variable _transparent_shadows¶

bool robot_dart::gui::magnum::BaseApplication::_transparent_shadows;

Protected Functions Documentation¶

function _gl_clean_up¶

void robot_dart::gui::magnum::BaseApplication::_gl_clean_up ()

function _prepare_shadows¶

void robot_dart::gui::magnum::BaseApplication::_prepare_shadows ()

The documentation for this class was generated from the following file robot_dart/gui/magnum/base_application.hpp