HyperGraphElementAction* VertexPointXYZDrawAction::operator()(HyperGraph::HyperGraphElement* element,
HyperGraphElementAction::Parameters* params ) {
if (typeid(*element).name()!=_typeName)
return 0;
initializeDrawActionsCache();
refreshPropertyPtrs(params);
if (! _previousParams)
return this;
if (_show && !_show->value())
return this;
VertexPointXYZ* that = static_cast<VertexPointXYZ*>(element);
glPushMatrix();
glPushAttrib(GL_ENABLE_BIT | GL_POINT_BIT);
glDisable(GL_LIGHTING);
glColor3f(LANDMARK_VERTEX_COLOR);
float ps = _pointSize ? _pointSize->value() : 1.f;
glTranslatef((float)that->estimate()(0),(float)that->estimate()(1),(float)that->estimate()(2));
opengl::drawPoint(ps);
glPopAttrib();
drawCache(that->cacheContainer(), params);
drawUserData(that->userData(), params);
glPopMatrix();
return this;
}
HyperGraphElementAction* VertexSE3PriorDrawAction::operator()(HyperGraph::HyperGraphElement* element,
HyperGraphElementAction::Parameters* params_){
if (typeid(*element).name()!=_typeName)
return 0;
initializeDrawActionsCache();
refreshPropertyPtrs(params_);
if (! _previousParams)
return this;
if (_show && !_show->value())
return this;
VertexSE3Prior* that = static_cast<VertexSE3Prior*>(element);
glColor3f(POSE_VERTEX_PRIOR_COLOR);
glPushMatrix();
glMultMatrixd(that->estimate().matrix().data());
opengl::drawArrow2D(_triangleX->value(), _triangleY->value(), _triangleX->value()*.3f);
drawCache(that->cacheContainer(), params_);
drawUserData(that->userData(), params_);
glPopMatrix();
return this;
}