amino  1.0-beta2
Lightweight Robot Utility Library
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Pages
scene_win.h File Reference

SDL/OpenGL window management. More...

#include <SDL.h>

Go to the source code of this file.

Functions

AA_API struct aa_rx_winaa_rx_win_create (const char *title, int x_pos, int y_pos, int width, int height, Uint32 flags)
 Create a new SDL / OpenGL window. More...
 
AA_API struct aa_rx_winaa_rx_win_default_create (const char *title, int width, int height)
 Create a new SDL / OpenGL window with default parameters. More...
 
AA_API void aa_rx_win_destroy (struct aa_rx_win *win)
 Destroy SDL / OpenGL window.
 
AA_API struct aa_gl_globals * aa_rx_win_gl_globals (struct aa_rx_win *win)
 Return a pointer to the window's GL globals struct. More...
 
AA_API void aa_rx_win_set_sg (struct aa_rx_win *win, const struct aa_rx_sg *sg)
 Set a scenegraph for the window. More...
 
AA_API void aa_rx_win_set_sg_sub (struct aa_rx_win *win, const struct aa_rx_sg_sub *sg_sub)
 Set a sub-scenegraph for the window. More...
 
AA_API const struct aa_rx_sgaa_rx_win_get_sg (struct aa_rx_win *win)
 Retreive the scene graph for the window.
 
AA_API void aa_rx_win_display_sg_config (struct aa_rx_win *win, struct aa_sdl_display_params *params, const struct aa_rx_sg *scenegraph, size_t n_q, const double *q)
 Render a scenegraph at the given configuration in the window.
 
AA_API void aa_rx_win_display_sg_tf (struct aa_rx_win *win, struct aa_sdl_display_params *params, const struct aa_rx_sg *scenegraph, size_t n_tf, const double *tf_abs, size_t ld_tf)
 Display a scene graph in the window with the given transforms.
 
AA_API void aa_rx_win_set_config (struct aa_rx_win *win, size_t n, const double *q)
 Set the configuration vector for the window. More...
 
AA_API void aa_rx_win_set_display (struct aa_rx_win *win, aa_sdl_win_display_fun display, void *context, void(*destructor)(void *))
 Set the window's display function. More...
 
AA_API void aa_rx_win_set_display_plan (struct aa_rx_win *win, struct aa_rx_sg *sg, size_t n_plan_elements, const double *plan)
 Display a motion plan in the window.
 
AA_API void aa_rx_win_set_display_seq (struct aa_rx_win *win, struct aa_rx_mp_seq *mp_seq)
 Display a sequence of motion plans.
 
AA_API void aa_rx_win_run (void)
 Synchronous display using current thread. More...
 
AA_API void aa_rx_win_run_async (void)
 Asynchronous run the display in a new current thread. More...
 
AA_API void aa_rx_win_stop (struct aa_rx_win *win)
 Instruct the rendering thread to stop. More...
 
AA_API int aa_rx_win_is_running (struct aa_rx_win *win)
 Return true if the window is still running.
 
AA_API void aa_rx_win_stop_on_quit (struct aa_rx_win *win, int value)
 Instruct the rendering thread to stop when the user closes the window.
 
AA_API void aa_rx_win_lock (struct aa_rx_win *win)
 Lock the window. More...
 
AA_API void aa_rx_win_unlock (struct aa_rx_win *win)
 Unlock the window.
 
AA_API void aa_rx_win_sg_gl_init (struct aa_rx_win *win, struct aa_rx_sg *sg)
 Initialize scenegraph GL values for the given window. More...
 
AA_API void aa_rx_win_get_tf_cam (struct aa_rx_win *win, double *E)
 Return the current camera pose. More...
 
AA_API void aa_rx_win_set_tf_cam (struct aa_rx_win *win, const double *E)
 Set the camera pose. More...
 

Detailed Description

SDL/OpenGL window management.

Definition in file scene_win.h.

Function Documentation

AA_API struct aa_rx_win* aa_rx_win_create ( const char *  title,
int  x_pos,
int  y_pos,
int  width,
int  height,
Uint32  flags 
)

Create a new SDL / OpenGL window.

Parameters
titleThe window title
x_posInitial X position of the window
y_posInitial Y position of the window
widthInitial width of the window
heightInitial height of the window
flagsFlags for SDL_CreateWindow()
AA_API struct aa_rx_win* aa_rx_win_default_create ( const char *  title,
int  width,
int  height 
)

Create a new SDL / OpenGL window with default parameters.

On Mac OS X, this function may only be called from the main thread.

Parameters
titleThe window title
widthInitial width of the window
heightInitial height of the window
AA_API void aa_rx_win_get_tf_cam ( struct aa_rx_win win,
double *  E 
)

Return the current camera pose.

Parameters
winThe window
EThe camera pose in quaternion-vector format
AA_API struct aa_gl_globals* aa_rx_win_gl_globals ( struct aa_rx_win win)

Return a pointer to the window's GL globals struct.

Note that the window's rendering thread may asynchronously access the GL globals. If you need to modify any parameters, synchronize access by locking the window.

See also
aa_rx_win_lock
aa_rx_win_unlock
AA_API void aa_rx_win_lock ( struct aa_rx_win win)

Lock the window.

The rendering thread also takes this lock before calling the display function.

AA_API void aa_rx_win_run ( void  )

Synchronous display using current thread.

This function is thread-safe. The window will be locked while each window's display() function is called.

On Mac OS X under the Cocoa/Quartz GUI, this function may only be called from the main thread.

AA_API void aa_rx_win_run_async ( void  )

Asynchronous run the display in a new current thread.

This function is thread-safe. The window will be locked while each window's display() function is called.

This function will not work on Mac OS X under the Cocoa GUI because Cocoa limits GUI interaction to the main program thread. Instead, you must call aa_rx_win_run() from your program's main thread.

AA_API void aa_rx_win_set_config ( struct aa_rx_win win,
size_t  n,
const double *  q 
)

Set the configuration vector for the window.

This configuration is used by the default rendering function. Custom rendering functions may not need to set the configuration with this function.

AA_API void aa_rx_win_set_display ( struct aa_rx_win win,
aa_sdl_win_display_fun  display,
void *  context,
void(*)(void *)  destructor 
)

Set the window's display function.

Parameters
winThe window
displayThe display function
contextThe context argument for the display function
destructorA cleanup function that is called on context when either another display function is set for the window or the window is destroyed.
AA_API void aa_rx_win_set_sg ( struct aa_rx_win win,
const struct aa_rx_sg sg 
)

Set a scenegraph for the window.

The scenegraph is used by the default rendering function. Custom rendering functions may not need to set the window scene graph first.

AA_API void aa_rx_win_set_sg_sub ( struct aa_rx_win win,
const struct aa_rx_sg_sub *  sg_sub 
)

Set a sub-scenegraph for the window.

The scenegraph is used by the default rendering function. Custom rendering functions may not need to set the window scene graph first.

The end-effector of the sub-scenegraph can be interactively controlled in workspace.

AA_API void aa_rx_win_set_tf_cam ( struct aa_rx_win win,
const double *  E 
)

Set the camera pose.

Parameters
winThe window
EThe camera pose in quaternion-vector format
AA_API void aa_rx_win_sg_gl_init ( struct aa_rx_win win,
struct aa_rx_sg sg 
)

Initialize scenegraph GL values for the given window.

This function is threadsafe.

AA_API void aa_rx_win_stop ( struct aa_rx_win win)

Instruct the rendering thread to stop.

The rendering thread will gracefully terminate, possibly after it finishes displaying another frame.