void CParameterizedTrajectoryGenerator::renderPathAsSimpleLine(
const uint16_t k,
mrpt::opengl::CSetOfLines &gl_obj,
const float decimate_distance,
const float max_path_distance) const
{
const size_t nPointsInPath = getPointsCountInCPath_k(k);
// Decimate trajectories: we don't need centimeter resolution!
float last_added_dist = 0.0f;
for (size_t n=0;n<nPointsInPath;n++)
{
const float d = GetCPathPoint_d(k, n); // distance thru path "k" until timestep "n"
if (d<last_added_dist+decimate_distance && n!=0)
continue; // skip: decimation
last_added_dist = d;
const float x = GetCPathPoint_x(k, n);
const float y = GetCPathPoint_y(k, n);
if (gl_obj.empty())
gl_obj.appendLine(0,0,0, x,y,0);
else gl_obj.appendLineStrip(x,y,0);
// Draw the TP only until we reach the target of the "motion" segment:
if (max_path_distance!=0.0f && d>=max_path_distance) break;
}
}
