moveit2
The MoveIt Motion Planning Framework for ROS 2.
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gl_mesh.h
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34
35/* Author: Suat Gedikli */
36
37#pragma once
38
39#include <Eigen/Geometry> // for Isometry3d
40#include <GL/glew.h>
41#ifdef __APPLE__
42#include <OpenGL/gl.h>
43#else
44#include <GL/gl.h>
45#endif
46
47namespace shapes
48{
49class Mesh;
50}
51
52namespace mesh_filter
53{
58class GLMesh
59{
60public:
67 GLMesh(const shapes::Mesh& mesh, unsigned int mesh_label);
68
70 ~GLMesh();
76 void render(const Eigen::Isometry3d& transform) const;
77
78private:
80 GLuint list_;
81
83 unsigned int mesh_label_;
84};
85} // namespace mesh_filter
GLMesh represents a mesh from geometric_shapes for rendering in GL frame buffers.
Definition gl_mesh.h:59
void render(const Eigen::Isometry3d &transform) const
renders the mesh in current OpenGL frame buffer (context)
Definition gl_mesh.cpp:83
~GLMesh()
Destructor.
Definition gl_mesh.cpp:78
Definition world.h:49