Viewer.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef RL_PLAN_VIEWER_H
#define RL_PLAN_VIEWER_H
 
#include <rl/math/Transform.h>
#include <rl/math/Vector.h>
 
#include "VectorList.h"
 
namespace rl
{
    namespace plan
    {
        class Viewer
        {
        public:
            Viewer();
            
            virtual ~Viewer();
            
            virtual void drawConfiguration(const ::rl::math::Vector& q) = 0;
            
            virtual void drawConfigurationEdge(const ::rl::math::Vector& q0, const ::rl::math::Vector& q1, const bool& free = true) = 0;
            
            virtual void drawConfigurationPath(const VectorList& path) = 0;
            
            virtual void drawConfigurationVertex(const ::rl::math::Vector& q, const bool& free = true) = 0;
            
            virtual void drawLine(const ::rl::math::Vector& xyz0, const ::rl::math::Vector& xyz1) = 0;
            
            virtual void drawPoint(const ::rl::math::Vector& xyz) = 0;
            
            virtual void drawSphere(const ::rl::math::Vector& center, const ::rl::math::Real& radius) = 0;
            
            virtual void drawWork(const ::rl::math::Transform& t) = 0;
            
            virtual void drawWorkEdge(const ::rl::math::Vector& q0, const ::rl::math::Vector& q1) = 0;
            
            virtual void drawWorkPath(const VectorList& path) = 0;
            
            virtual void drawWorkVertex(const ::rl::math::Vector& q) = 0;
            
            virtual void reset() = 0;
            
            virtual void resetEdges() = 0;
            
            virtual void resetLines() = 0;
            
            virtual void resetPoints() = 0;
            
            virtual void resetSpheres() = 0;
            
            virtual void resetVertices() = 0;
            
            virtual void showMessage(const ::std::string& message) = 0;
            
        protected:
            
        private:
            
        };
    }
}
 
#endif // VIEWER_H