moveit2
The MoveIt Motion Planning Framework for ROS 2.
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 
47 namespace shapes
48 {
49 class Mesh;
50 }
51 
52 namespace mesh_filter
53 {
58 class GLMesh
59 {
60 public:
67  GLMesh(const shapes::Mesh& mesh, unsigned int mesh_label);
68 
70  ~GLMesh();
76  void render(const Eigen::Isometry3d& transform) const;
77 
78 private:
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(const shapes::Mesh &mesh, unsigned int mesh_label)
Constructs a GLMesh object for given mesh and label.
Definition: gl_mesh.cpp:46
~GLMesh()
Destructor.
Definition: gl_mesh.cpp:78
Definition: world.h:49