Visual Servoing Platform version 3.5.0
vpViewer.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Simulator based on Coin3d.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
39#ifndef vpViewer_HH
40#define vpViewer_HH
53#include <visp3/core/vpConfig.h>
54
55#ifdef VISP_HAVE_COIN3D_AND_GUI
56
57#if defined(VISP_HAVE_SOWIN)
58
59#include <Inventor/Win/SoWin.h>
60#include <Inventor/Win/viewers/SoWinExaminerViewer.h>
61
62#elif defined(VISP_HAVE_SOQT)
63
64#include <Inventor/Qt/SoQt.h>
65#include <Inventor/Qt/viewers/SoQtExaminerViewer.h>
66
67#elif defined(VISP_HAVE_SOXT)
68
69#include <Inventor/Xt/SoXt.h>
70#include <Inventor/Xt/viewers/SoXtExaminerViewer.h>
71
72#endif
73
74// Coin stuff
75
76#include <Inventor/nodes/SoBaseColor.h>
77#include <Inventor/nodes/SoCone.h>
78#include <Inventor/nodes/SoCube.h>
79#include <Inventor/nodes/SoImage.h>
80#include <Inventor/nodes/SoLightModel.h>
81#include <Inventor/nodes/SoPerspectiveCamera.h>
82#include <Inventor/nodes/SoRotationXYZ.h>
83#include <Inventor/nodes/SoSeparator.h>
84#include <Inventor/nodes/SoTranslation.h>
85#include <Inventor/sensors/SoTimerSensor.h>
86
87#if defined(VISP_HAVE_SOWIN)
88#include <GL/gl.h>
89#elif defined(VISP_HAVE_SOQT)
90#include <qgl.h>
91#elif defined(VISP_HAVE_SOXT)
92#include <GL/gl.h>
93#endif
94
95// visp
96#include <visp3/core/vpCameraParameters.h>
97#include <visp3/core/vpDebug.h>
98#include <visp3/core/vpHomogeneousMatrix.h>
99
114class vpSimulator;
115
116#if defined(VISP_HAVE_SOWIN)
117class VISP_EXPORT vpViewer : public SoWinExaminerViewer
118#elif defined(VISP_HAVE_SOQT)
119class VISP_EXPORT vpViewer : public SoQtExaminerViewer
120#elif defined(VISP_HAVE_SOXT)
121class VISP_EXPORT vpViewer : public SoXtExaminerViewer
122#endif
123{
124
125 friend class vpSimulator;
126
127public:
129#if defined(VISP_HAVE_SOWIN)
130 vpViewer(HWND parent, vpSimulator *simu, vpViewerType type);
131#elif defined(VISP_HAVE_SOQT)
132 vpViewer(QWidget *parent, vpSimulator *simu, vpViewerType type);
133#elif defined(VISP_HAVE_SOXT)
134 vpViewer(Widget parent, vpSimulator *simu, vpViewerType type);
135#endif
136
137 virtual ~vpViewer();
138 void resize(int x, int y, bool fixed = false);
139 virtual void actualRedraw(void);
140
141private:
142 vpViewerType viewerType;
143 vpSimulator *simu;
144 SbBool processSoEvent(const SoEvent *const event);
145#if defined(VISP_HAVE_SOWIN)
146 static HWND init(const char *appname) { return SoWin::init(appname); };
147 static void mainLoop() { SoWin::mainLoop(); };
148 static void exitMainLoop() { SoWin::exitMainLoop(); };
149#elif defined(VISP_HAVE_SOQT)
150 static QWidget *init(const char *appname) { return SoQt::init(appname); };
151 static void mainLoop() { SoQt::mainLoop(); };
152 static void exitMainLoop() { SoQt::exitMainLoop(); };
153#elif defined(VISP_HAVE_SOXT)
154 static Widget init(const char *appname) { return SoXt::init(appname); };
155 static void mainLoop() { SoXt::mainLoop(); };
156 static void exitMainLoop() { SoXt::exitMainLoop(); };
157#endif
158};
159
160#endif // VISP_HAVE_COIN3D_AND_GUI
161
162#endif
Implementation of a simulator based on Coin3d (www.coin3d.org).
Definition: vpSimulator.h:100
virtual void mainLoop()
activate the mainloop
void init()
perform some initialization
vpViewer * externalView
view from an external camera
Definition: vpSimulator.h:139
Viewer used by the simulator.
Definition: vpViewer.h:123
void resize(int x, int y, bool fixed=false)
Definition: vpViewer.cpp:130
vpViewerType
Definition: vpViewer.h:128
@ internalView
Definition: vpViewer.h:128
virtual ~vpViewer()
Definition: vpViewer.cpp:73
virtual void actualRedraw(void)
Definition: vpViewer.cpp:75
vpViewer(HWND parent, vpSimulator *simu, vpViewerType type)
Definition: vpViewer.cpp:55