CSetOfObjects::Ptr stock_objects::Hokuyo_UTM()
{
CSetOfObjects::Ptr ret = mrpt::make_aligned_shared<CSetOfObjects>();
{
CBox::Ptr base = mrpt::make_aligned_shared<CBox>(
TPoint3D(-0.03, -0.03, -0.055), TPoint3D(0.03, 0.03, -0.014));
base->setColor(0, 0, 0);
ret->insert(base);
}
{
CCylinder::Ptr cyl1 =
mrpt::make_aligned_shared<CCylinder>(0.028f, 0.024f, 0.028f);
cyl1->setColor(0, 0, 0);
cyl1->setPose(CPose3D(0, 0, -0.014));
ret->insert(cyl1);
}
{
CCylinder::Ptr cyl2 =
mrpt::make_aligned_shared<CCylinder>(0.028f, 0.028f, 0.01f);
cyl2->setColor(1, 69 / 255.0, 0);
cyl2->setLocation(0, 0, 0.014);
ret->insert(cyl2);
}
{
CCylinder::Ptr cyl3 =
mrpt::make_aligned_shared<CCylinder>(0.028f, 0.028f, 0.01f);
cyl3->setColor(0, 0, 0);
cyl3->setLocation(0, 0, 0.024);
ret->insert(cyl3);
}
return ret;
}
CSetOfObjects::Ptr stock_objects::CornerXYZSimple(float scale, float lineWidth)
{
CSetOfObjects::Ptr ret = mrpt::make_aligned_shared<CSetOfObjects>();
{
CSimpleLine::Ptr lin = mrpt::make_aligned_shared<CSimpleLine>();
lin->setLineWidth(lineWidth);
lin->setColor(1, 0, 0);
lin->setLineCoords(0, 0, 0, scale, 0, 0);
ret->insert(lin);
}
{
CSimpleLine::Ptr lin = mrpt::make_aligned_shared<CSimpleLine>();
lin->setLineWidth(lineWidth);
lin->setColor(0, 1, 0);
lin->setLineCoords(0, 0, 0, 0, scale, 0);
ret->insert(lin);
}
{
CSimpleLine::Ptr lin = mrpt::make_aligned_shared<CSimpleLine>();
lin->setLineWidth(lineWidth);
lin->setColor(0, 0, 1);
lin->setLineCoords(0, 0, 0, 0, 0, scale);
ret->insert(lin);
}
return ret;
}
CSetOfObjects::Ptr stock_objects::Hokuyo_URG()
{
CSetOfObjects::Ptr ret = mrpt::make_aligned_shared<CSetOfObjects>();
{
CBox::Ptr base = mrpt::make_aligned_shared<CBox>(
TPoint3D(-0.025, -0.025, -0.0575), TPoint3D(0.025, 0.025, -0.0185));
base->setColor(0.7, 0.7, 0.7);
ret->insert(base);
}
{
CCylinder::Ptr cyl1 =
mrpt::make_aligned_shared<CCylinder>(0.02f, 0.02f, 0.01f);
cyl1->setColor(0, 0, 0);
cyl1->setLocation(0, 0, -0.014);
ret->insert(cyl1);
}
{
CCylinder::Ptr cyl2 =
mrpt::make_aligned_shared<CCylinder>(0.02f, 0.0175f, 0.01f);
cyl2->setColor(0, 0, 0);
cyl2->setLocation(0, 0, -0.004);
ret->insert(cyl2);
}
{
CCylinder::Ptr cyl3 =
mrpt::make_aligned_shared<CCylinder>(0.0175f, 0.0175f, 0.01f);
cyl3->setColor(0, 0, 0);
cyl3->setLocation(0, 0, 0.004);
ret->insert(cyl3);
}
return ret;
}
/*---------------------------------------------------------------
CornerXYZ
---------------------------------------------------------------*/
CSetOfObjects::Ptr stock_objects::CornerXYZ(float scale)
{
CSetOfObjects::Ptr ret = mrpt::make_aligned_shared<CSetOfObjects>();
CArrow::Ptr obj = CArrow::Create(
0, 0, 0, scale, 0, 0, 0.25f * scale, 0.02f * scale, 0.05f * scale);
obj->setColor(1, 0, 0);
ret->insert(obj);
obj = CArrow::Create(
0, 0, 0, 0, scale, 0, 0.25f * scale, 0.02f * scale, 0.05f * scale);
obj->setColor(0, 1, 0);
ret->insert(obj);
obj = CArrow::Create(
0, 0, 0, 0, 0, scale, 0.25f * scale, 0.02f * scale, 0.05f * scale);
obj->setColor(0, 0, 1);
ret->insert(obj);
return ret;
}
/*---------------------------------------------------------------
BumblebeeCamera
---------------------------------------------------------------*/
CSetOfObjects::Ptr stock_objects::BumblebeeCamera()
{
CSetOfObjects::Ptr camera =
mrpt::make_aligned_shared<opengl::CSetOfObjects>();
CPolyhedron::Ptr rect = opengl::CPolyhedron::CreateCubicPrism(
-0.02, 0.14, -0.02, 0.02, 0, -0.04);
rect->setColor(1, 0.8, 0);
camera->insert(rect);
CCylinder::Ptr lCam = mrpt::make_aligned_shared<opengl::CCylinder>(
0.01f, 0.01f, 0.003f, 10, 10);
lCam->setColor(1, 0, 0);
CCylinder::Ptr rCam = mrpt::make_aligned_shared<opengl::CCylinder>(
0.01f, 0.01f, 0.003f, 10, 10);
rCam->setPose(CPose3D(0.12, 0, 0));
rCam->setColor(0, 0, 0);
camera->insert(lCam);
camera->insert(rCam);
return camera;
}
/*---------------------------------------------------------------
RobotRhodon
---------------------------------------------------------------*/
CSetOfObjects::Ptr stock_objects::RobotRhodon()
{
CSetOfObjects::Ptr ret = mrpt::make_aligned_shared<CSetOfObjects>();
float height = 0;
vector<TPoint2D> level1;
level1.push_back(TPoint2D(0.31, 0));
level1.push_back(TPoint2D(0.22, 0.24));
level1.push_back(TPoint2D(-0.22, 0.24));
level1.push_back(TPoint2D(-0.31, 0));
level1.push_back(TPoint2D(-0.22, -0.24));
level1.push_back(TPoint2D(0.22, -0.24));
CPolyhedron::Ptr obj1 =
opengl::CPolyhedron::CreateCustomPrism(level1, 0.38);
obj1->setLocation(0, 0, height);
height += 0.38f;
obj1->setColor(0.6, 0.6, 0.6);
ret->insert(obj1);
vector<TPoint2D> level2;
level2.push_back(TPoint2D(0.16, 0.21));
level2.push_back(TPoint2D(-0.16, 0.21));
level2.push_back(TPoint2D(-0.16, -0.21));
level2.push_back(TPoint2D(0.16, -0.21));
CPolyhedron::Ptr obj2 =
opengl::CPolyhedron::CreateCustomPrism(level2, 0.35);
obj2->setLocation(0, 0, height);
height += 0.35f;
obj2->setColor(0.2, 0.2, 0.2);
ret->insert(obj2);
vector<TPoint2D> level3;
level3.push_back(TPoint2D(-0.12, 0.12));
level3.push_back(TPoint2D(-0.16, 0.12));
level3.push_back(TPoint2D(-0.16, -0.12));
level3.push_back(TPoint2D(-0.12, -0.12));
CPolyhedron::Ptr obj3 = opengl::CPolyhedron::CreateCustomPrism(level3, 1);
obj3->setLocation(0, 0, height);
// height+=1;
obj3->setColor(0.6, 0.6, 0.6);
ret->insert(obj3);
opengl::CCylinder::Ptr obj4 = mrpt::make_aligned_shared<opengl::CCylinder>(
0.05f, 0.05f, 0.4f, 20, 20);
obj4->setLocation(0, 0, 0.73);
obj4->setColor(0, 0, 0.9);
ret->insert(obj4);
opengl::CCylinder::Ptr obj5 = mrpt::make_aligned_shared<opengl::CCylinder>(
0.05f, 0.05f, 0.4f, 20, 20);
obj5->setPose(CPose3D(0.32, 0, 0.89, 0, -1, 0));
obj5->setColor(0, 0, 0.9);
ret->insert(obj5);
return ret;
}
/**
* Generate 3 objects to work with - 1 sphere, 2 disks
*/
void generateObjects(CSetOfObjects::Ptr& world)
{
CSphere::Ptr sph = mrpt::make_aligned_shared<CSphere>(0.5);
sph->setLocation(0, 0, 0);
sph->setColor(1, 0, 0);
world->insert(sph);
CDisk::Ptr pln = mrpt::make_aligned_shared<opengl::CDisk>();
pln->setDiskRadius(2);
pln->setPose(CPose3D(0, 0, 0, 0, DEG2RAD(5), DEG2RAD(5)));
pln->setColor(0.8, 0, 0);
world->insert(pln);
{
CDisk::Ptr pln = mrpt::make_aligned_shared<opengl::CDisk>();
pln->setDiskRadius(2);
pln->setPose(CPose3D(0, 0, 0, DEG2RAD(30), DEG2RAD(-20), DEG2RAD(-2)));
pln->setColor(0.9, 0, 0);
world->insert(pln);
}
}
CSetOfObjects::Ptr stock_objects::CornerXYZEye()
{
CSetOfObjects::Ptr ret = mrpt::make_aligned_shared<CSetOfObjects>();
CPose3D rotation;
CArrow::Ptr obj = CArrow::Create(0, 0, 0, 1.0, 0, 0, 0.25f, 0.02f, 0.05f);
obj->setColor(1, 0, 0);
ret->insert(obj);
obj = CArrow::Create(0, 0, 0, 0, 1.0, 0, 0.25f, 0.02f, 0.05f);
obj->setColor(0, 1, 0);
ret->insert(obj);
obj = CArrow::Create(0, 0, -1.0, 0, 0, 0, 0.25f, 0.02f, 0.05f);
obj->setColor(0, 0, 1);
ret->insert(obj);
return ret;
}
// Add objects at your will to check results
void generateObjects(CSetOfObjects::Ptr& world)
{
// create object, give it a random pose/color, insert it in the world
CDisk::Ptr dsk = mrpt::make_aligned_shared<CDisk>();
dsk->setDiskRadius(MYRANDG(5, 5), MYRANDG(5));
configRandom(dsk);
world->insert(dsk);
CSphere::Ptr sph = mrpt::make_aligned_shared<CSphere>(MYRANDG(5, 1));
configRandom(sph);
world->insert(sph);
CTexturedPlane::Ptr pln = mrpt::make_aligned_shared<CTexturedPlane>(
MYRANDG(10, -10), MYRANDG(10), MYRANDG(10, -10), MYRANDG(10));
configRandom(pln);
world->insert(pln);
for (size_t i = 0; i < 5; i++)
{
CPolyhedron::Ptr poly =
CPolyhedron::CreateRandomPolyhedron(MYRANDG(2, 2));
configRandom(poly);
world->insert(poly);
}
CCylinder::Ptr cil = mrpt::make_aligned_shared<CCylinder>(
MYRANDG(3.0, 3.0), MYRANDG(3.0, 1.0), MYRANDG(2.0f, 3.0f), 50, 1);
configRandom(cil);
world->insert(cil);
CEllipsoid::Ptr ell = mrpt::make_aligned_shared<CEllipsoid>();
CMatrixDouble md = CMatrixDouble(3, 3);
for (size_t i = 0; i < 3; i++) md(i, i) = MYRANDG(8.0, 1.0);
for (size_t i = 0; i < 3; i++)
{
size_t ii = (i + 1) % 3;
md(i, ii) = md(ii, i) = MYRANDG(sqrt(md(i, i) * md(ii, ii)));
}
ell->setCovMatrix(md);
configRandom(std::dynamic_pointer_cast<CRenderizable>(ell));
world->insert(ell);
}
CSetOfObjects::Ptr stock_objects::Househam_Sprayer()
{
CSetOfObjects::Ptr ret = mrpt::make_aligned_shared<CSetOfObjects>();
{
CBox::Ptr cabin = mrpt::make_aligned_shared<CBox>(
TPoint3D(0.878, 0.723, -0.12), TPoint3D(-0.258, -0.723, -1.690));
cabin->setColor(0.7, 0.7, 0.7);
ret->insert(cabin);
}
{
CBox::Ptr back = mrpt::make_aligned_shared<CBox>(
TPoint3D(-0.258, 0.723, -0.72), TPoint3D(-5.938, -0.723, -1.690));
back->setColor(1, 1, 1);
ret->insert(back);
}
{
CBox::Ptr boomAxis = mrpt::make_aligned_shared<CBox>(
TPoint3D(-5.938, 0.723, -1.0), TPoint3D(-6.189, -0.723, -1.690));
boomAxis->setColor(0, 0, 0);
ret->insert(boomAxis);
}
{
CBox::Ptr boom1 = mrpt::make_aligned_shared<CBox>(
TPoint3D(-5.938, 0.723, -1.0), TPoint3D(-6.189, 11.277, -1.620));
boom1->setColor(0, 1, 0);
ret->insert(boom1);
}
{
CBox::Ptr boom2 = mrpt::make_aligned_shared<CBox>(
TPoint3D(-5.938, -0.723, -1.0), TPoint3D(-6.189, -11.277, -1.620));
boom2->setColor(0, 1, 0);
ret->insert(boom2);
}
{
CCylinder::Ptr cyl1 =
mrpt::make_aligned_shared<CCylinder>(0.716f, 0.716f, 0.387f, 30);
cyl1->setColor(0, 0, 0);
cyl1->setPose(CPose3D(-0.710, 0.923, -2.480, 0, 0, DEG2RAD(90)));
ret->insert(cyl1);
}
{
CCylinder::Ptr cyl2 =
mrpt::make_aligned_shared<CCylinder>(0.716f, 0.716f, 0.387f, 30);
cyl2->setColor(0, 0, 0);
cyl2->setPose(CPose3D(-3.937, 0.923, -2.480, 0, 0, DEG2RAD(90)));
ret->insert(cyl2);
}
{
CCylinder::Ptr cyl1 =
mrpt::make_aligned_shared<CCylinder>(0.716f, 0.716f, 0.387f, 30);
cyl1->setColor(0, 0, 0);
cyl1->setPose(CPose3D(-0.710, -0.423, -2.480, 0, 0, DEG2RAD(90)));
ret->insert(cyl1);
}
{
CCylinder::Ptr cyl2 =
mrpt::make_aligned_shared<CCylinder>(0.716f, 0.716f, 0.387f, 30);
cyl2->setColor(0, 0, 0);
cyl2->setPose(CPose3D(-3.937, -0.423, -2.480, 0, 0, DEG2RAD(90)));
ret->insert(cyl2);
}
return ret;
}
/*---------------------------------------------------------------
RobotGiraff
---------------------------------------------------------------*/
CSetOfObjects::Ptr stock_objects::RobotGiraff()
{
CSetOfObjects::Ptr ret = mrpt::make_aligned_shared<CSetOfObjects>();
float height = 0;
// Base
vector<TPoint2D> level1;
level1.push_back(TPoint2D(0.31, 0));
level1.push_back(TPoint2D(0.22, 0.24));
level1.push_back(TPoint2D(-0.22, 0.24));
level1.push_back(TPoint2D(-0.31, 0));
level1.push_back(TPoint2D(-0.22, -0.24));
level1.push_back(TPoint2D(0.22, -0.24));
CPolyhedron::Ptr obj1 =
opengl::CPolyhedron::CreateCustomPrism(level1, 0.23);
obj1->setLocation(0, 0, height);
height += 0.23f;
obj1->setColor(1.0, 0.6, 0.0);
ret->insert(obj1);
// Electronic's cage
vector<TPoint2D> level2;
level2.push_back(TPoint2D(0.13, 0.1));
level2.push_back(TPoint2D(-0.13, 0.1));
level2.push_back(TPoint2D(-0.13, -0.1));
level2.push_back(TPoint2D(0.13, -0.1));
CPolyhedron::Ptr obj2 =
opengl::CPolyhedron::CreateCustomPrism(level2, 0.45);
obj2->setLocation(0, 0, height);
height += 0.45f;
obj2->setColor(1.0, 0.6, 0.2);
ret->insert(obj2);
// Neck
vector<TPoint2D> level3;
level3.push_back(TPoint2D(0.03, 0.03));
level3.push_back(TPoint2D(-0.03, 0.03));
level3.push_back(TPoint2D(-0.03, -0.03));
level3.push_back(TPoint2D(0.03, -0.03));
CPolyhedron::Ptr obj3 =
opengl::CPolyhedron::CreateCustomPrism(level3, 0.55);
obj3->setLocation(0, 0, height);
height += 0.55f;
obj3->setColor(0.6, 0.6, 0.6);
ret->insert(obj3);
// Screen
vector<TPoint2D> level4;
level4.push_back(TPoint2D(0.03, 0.11));
level4.push_back(TPoint2D(-0.03, 0.11));
level4.push_back(TPoint2D(-0.03, -0.11));
level4.push_back(TPoint2D(0.03, -0.11));
CPolyhedron::Ptr obj4 = opengl::CPolyhedron::CreateCustomPrism(level4, 0.4);
obj4->setLocation(0, 0, height);
height += 0.4f;
obj4->setColor(1.0, 0.6, 0.0);
ret->insert(obj4);
return ret;
}
/*---------------------------------------------------------------
RobotPioneer
---------------------------------------------------------------*/
CSetOfObjects::Ptr stock_objects::RobotPioneer()
{
CSetOfObjects::Ptr ret = mrpt::make_aligned_shared<CSetOfObjects>();
ret->setName("theRobot");
CSetOfTriangles::Ptr obj = mrpt::make_aligned_shared<CSetOfTriangles>();
// Add triangles:
CSetOfTriangles::TTriangle trian;
trian.r[0] = trian.r[1] = trian.r[2] = 1;
trian.g[0] = trian.g[1] = trian.g[2] = 0;
trian.b[0] = trian.b[1] = trian.b[2] = 0;
trian.a[0] = trian.a[1] = trian.a[2] = 1;
trian.x[0] = 0.10f;
trian.x[1] = -0.20f;
trian.x[2] = -0.20f;
trian.y[0] = -0.10f;
trian.y[1] = 0.10f;
trian.y[2] = -0.10f;
trian.z[0] = 0.20f;
trian.z[1] = 0.25f;
trian.z[2] = 0.25f;
obj->insertTriangle(trian); // 0
trian.x[0] = 0.10f;
trian.x[1] = 0.10f;
trian.x[2] = -0.20f;
trian.y[0] = -0.10f;
trian.y[1] = 0.10f;
trian.y[2] = 0.10f;
trian.z[0] = 0.20f;
trian.z[1] = 0.20f;
trian.z[2] = 0.25f;
obj->insertTriangle(trian); // 1
// trian.r = 0.9f; trian.g = 0; trian.b = 0; trian.a = 1;
trian.x[0] = 0.10f;
trian.x[1] = 0.10f;
trian.x[2] = 0.10f;
trian.y[0] = -0.10f;
trian.y[1] = -0.10f;
trian.y[2] = 0.10f;
trian.z[0] = 0.05f;
trian.z[1] = 0.20f;
trian.z[2] = 0.20f;
obj->insertTriangle(trian); // 2
trian.x[0] = 0.10f;
trian.x[1] = 0.10f;
trian.x[2] = 0.10f;
trian.y[0] = -0.10f;
trian.y[1] = 0.10f;
trian.y[2] = 0.10f;
trian.z[0] = 0.05f;
trian.z[1] = 0.05f;
trian.z[2] = 0.20f;
obj->insertTriangle(trian); // 3
trian.x[0] = -0.20f;
trian.x[1] = -0.20f;
trian.x[2] = -0.20f;
trian.y[0] = -0.10f;
trian.y[1] = -0.10f;
trian.y[2] = 0.10f;
trian.z[0] = 0.05f;
trian.z[1] = 0.25f;
trian.z[2] = 0.25f;
obj->insertTriangle(trian); // 2b
trian.x[0] = -0.20f;
trian.x[1] = -0.20f;
trian.x[2] = -0.20f;
trian.y[0] = -0.10f;
trian.y[1] = 0.10f;
trian.y[2] = 0.10f;
trian.z[0] = 0.05f;
trian.z[1] = 0.05f;
trian.z[2] = 0.25f;
obj->insertTriangle(trian); // 3b
// trian.r = 0.8f; trian.g = 0; trian.b = 0; trian.a = 1;
trian.x[0] = 0.10f;
trian.x[1] = -0.20f;
trian.x[2] = -0.20f;
trian.y[0] = -0.10f;
trian.y[1] = -0.10f;
trian.y[2] = -0.10f;
trian.z[0] = 0.20f;
trian.z[1] = 0.25f;
trian.z[2] = 0.05f;
obj->insertTriangle(trian); // 4
trian.x[0] = 0.10f;
trian.x[1] = 0.10f;
trian.x[2] = -0.20f;
trian.y[0] = -0.10f;
trian.y[1] = -0.10f;
trian.y[2] = -0.10f;
trian.z[0] = 0.20f;
trian.z[1] = 0.05f;
trian.z[2] = 0.05f;
obj->insertTriangle(trian); // 5
trian.x[0] = 0.10f;
trian.x[1] = -0.20f;
trian.x[2] = -0.20f;
trian.y[0] = 0.10f;
trian.y[1] = 0.10f;
trian.y[2] = 0.10f;
trian.z[0] = 0.20f;
trian.z[1] = 0.25f;
trian.z[2] = 0.05f;
obj->insertTriangle(trian); // 6
trian.x[0] = 0.10f;
trian.x[1] = 0.10f;
trian.x[2] = -0.20f;
trian.y[0] = 0.10f;
trian.y[1] = 0.10f;
trian.y[2] = 0.10f;
trian.z[0] = 0.20f;
trian.z[1] = 0.05f;
trian.z[2] = 0.05f;
obj->insertTriangle(trian); // 7
trian.r[0] = trian.r[1] = trian.r[2] = 0.05f;
trian.g[0] = trian.g[1] = trian.g[2] = 0.05f;
trian.b[0] = trian.b[1] = trian.b[2] = 0.05f;
trian.a[0] = trian.a[1] = trian.a[2] = 1;
trian.x[0] = 0.00f;
trian.x[1] = 0.00f;
trian.x[2] = 0.05f;
trian.y[0] = 0.11f;
trian.y[1] = 0.11f;
trian.y[2] = 0.11f;
trian.z[0] = 0.00f;
trian.z[1] = 0.10f;
trian.z[2] = 0.05f;
obj->insertTriangle(trian); // 8
trian.x[0] = 0.00f;
trian.x[1] = 0.00f;
trian.x[2] = -0.05f;
trian.y[0] = 0.11f;
trian.y[1] = 0.11f;
trian.y[2] = 0.11f;
trian.z[0] = 0.00f;
trian.z[1] = 0.10f;
trian.z[2] = 0.05f;
obj->insertTriangle(trian); // 9
trian.x[0] = 0.00f;
trian.x[1] = 0.00f;
trian.x[2] = 0.05f;
trian.y[0] = -0.11f;
trian.y[1] = -0.11f;
trian.y[2] = -0.11f;
trian.z[0] = 0.00f;
trian.z[1] = 0.10f;
trian.z[2] = 0.05f;
obj->insertTriangle(trian); // 10
trian.x[0] = 0.00f;
trian.x[1] = 0.00f;
trian.x[2] = -0.05f;
trian.y[0] = -0.11f;
trian.y[1] = -0.11f;
trian.y[2] = -0.11f;
trian.z[0] = 0.00f;
trian.z[1] = 0.10f;
trian.z[2] = 0.05f;
obj->insertTriangle(trian); // 11
ret->insert(obj);
return ret;
}