amino  1.0-beta2
Lightweight Robot Utility Library
scene_win.h
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38 
39 #ifndef AMINO_RX_SCENE_WIN_H
40 #define AMINO_RX_SCENE_WIN_H
41 
42 #include <SDL.h>
43 
44 
45 
46 struct aa_rx_sg_sub;
47 
63 AA_API struct aa_rx_win *
65  const char* title,
66  int x_pos,
67  int y_pos,
68  int width,
69  int height,
70  Uint32 flags );
71 
81 AA_API struct aa_rx_win *
83  const char* title, int width, int height );
84 
85 
89 AA_API void
90 aa_rx_win_destroy( struct aa_rx_win * win);
91 
102 AA_API struct aa_gl_globals *
103 aa_rx_win_gl_globals( struct aa_rx_win * win);
104 
105 
113 AA_API void
114 aa_rx_win_set_sg( struct aa_rx_win * win,
115  const struct aa_rx_sg *sg );
116 
127 AA_API void
128 aa_rx_win_set_sg_sub( struct aa_rx_win * win,
129  const struct aa_rx_sg_sub *sg_sub );
130 
134 AA_API const struct aa_rx_sg *
135 aa_rx_win_get_sg( struct aa_rx_win * win );
136 
140 AA_API void
141 aa_rx_win_display_sg_config( struct aa_rx_win *win, struct aa_sdl_display_params *params,
142  const struct aa_rx_sg *scenegraph,
143  size_t n_q, const double *q );
144 
145 
149 AA_API void
150 aa_rx_win_display_sg_tf( struct aa_rx_win *win, struct aa_sdl_display_params *params,
151  const struct aa_rx_sg *scenegraph,
152  size_t n_tf, const double *tf_abs, size_t ld_tf );
153 
154 
158 AA_API void
159 aa_rx_win_display_fk( struct aa_rx_win *win, struct aa_sdl_display_params *params,
160  const struct aa_rx_fk *fk );
161 
168 AA_API void
169 aa_rx_win_set_config( struct aa_rx_win * win,
170  size_t n,
171  const double *q );
172 
179 AA_API void
180 aa_rx_win_set_bconfig( struct aa_rx_win * win,
181  const struct aa_dvec *q );
182 
196 AA_API void
197 aa_rx_win_set_display( struct aa_rx_win * win,
198  aa_sdl_win_display_fun display,
199  void *context,
200  void (*destructor)(void*) );
201 
205 AA_API void
207  struct aa_rx_sg *sg,
208  size_t n_plan_elements,
209  const double *plan );
210 
211 struct aa_rx_mp_seq;
212 
216 AA_API void
217 aa_rx_win_set_display_seq( struct aa_rx_win * win, struct aa_rx_mp_seq *mp_seq);
218 
229 AA_API void aa_rx_win_run( void );
230 
231 
243 AA_API void aa_rx_win_run_async( void );
244 
251 AA_API void
252 aa_rx_win_stop( struct aa_rx_win * win );
253 
257 AA_API int
258 aa_rx_win_is_running( struct aa_rx_win * win );
259 
260 
264 AA_API void
265 aa_rx_win_stop_on_quit( struct aa_rx_win * win, int value );
266 
273 AA_API void
274 aa_rx_win_lock( struct aa_rx_win * win );
275 
279 AA_API void
280 aa_rx_win_unlock( struct aa_rx_win * win );
281 
287 AA_API void
288 aa_rx_win_sg_gl_init( struct aa_rx_win * win,
289  struct aa_rx_sg *sg );
290 
291 
298 AA_API void
299 aa_rx_win_get_tf_cam( struct aa_rx_win * win, double *E );
300 
307 AA_API void
308 aa_rx_win_set_tf_cam( struct aa_rx_win * win, const double *E );
309 
310 
311 #endif /*AMINO_RX_SCENE_WIN_H*/
AA_API void aa_rx_win_display_fk(struct aa_rx_win *win, struct aa_sdl_display_params *params, const struct aa_rx_fk *fk)
Display a scene graph in the window with the forward kinematics.
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 struct aa_gl_globals * aa_rx_win_gl_globals(struct aa_rx_win *win)
Return a pointer to the window&#39;s GL globals struct.
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.
int(* aa_sdl_win_display_fun)(struct aa_rx_win *win, void *context, struct aa_sdl_display_params *params)
Display handler function for amino windows to call in SDL loop.
Definition: rxtype.h:109
AA_API void aa_rx_win_run_async(void)
Asynchronous run the display in a new current thread.
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.
Opaque type for a scene_graph.
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.
Descriptor for a vector.
Definition: mat.h:60
AA_API void aa_rx_win_stop(struct aa_rx_win *win)
Instruct the rendering thread to stop.
AA_API void aa_rx_win_lock(struct aa_rx_win *win)
Lock the window.
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.
#define AA_API
calling and name mangling convention for functions
Definition: amino.h:95
AA_API const struct aa_rx_sg * aa_rx_win_get_sg(struct aa_rx_win *win)
Retreive the scene graph for the window.
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&#39;s display function.
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.
Opaque type for a window.
Definition: rxtype.h:74
AA_API void aa_rx_win_unlock(struct aa_rx_win *win)
Unlock the window.
AA_API void aa_rx_win_set_tf_cam(struct aa_rx_win *win, const double *E)
Set the camera pose.
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 for SDL display function.
Definition: rxtype.h:81
AA_API void aa_rx_win_destroy(struct aa_rx_win *win)
Destroy SDL / OpenGL window.
AA_API void aa_rx_win_get_tf_cam(struct aa_rx_win *win, double *E)
Return the current camera pose.
AA_API void aa_rx_win_set_bconfig(struct aa_rx_win *win, const struct aa_dvec *q)
Set the configuration vector (block-vector version) 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_run(void)
Synchronous display using current thread.
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.
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.
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 int aa_rx_win_is_running(struct aa_rx_win *win)
Return true if the window is still running.