Program Listing for File apf2D_visualizer.hpp

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#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include <string>

#include <argos3/core/utility/math/quaternion.h>

#include "rcppsw/er/client.hpp"
#include "rcppsw/math/vector3.hpp"

#include "cosm/cosm.hpp"

/*******************************************************************************
 * Namespaces
 ******************************************************************************/
namespace argos {
class CQTOpenGLUserFunctions;
}

namespace cosm::apf2D {
class tracker;
} /* namespace cosm::apf2D */

namespace cosm::argos::vis {

/*******************************************************************************
 * Classes
 ******************************************************************************/
class apf2D_visualizer : public rer::client<apf2D_visualizer> {
 public:
  apf2D_visualizer(::argos::CQTOpenGLUserFunctions* qt, double text_vis_offset)
      : ER_CLIENT_INIT("cosm.vis.apf2D_visualizer"),
        m_text_vis_offset(text_vis_offset),
        m_qt(qt) {}

  apf2D_visualizer(const apf2D_visualizer&) = delete;
  apf2D_visualizer& operator=(const apf2D_visualizer&) = delete;

  void operator()(const rmath::vector3d& pos,
                  const ::argos::CQuaternion& orientation,
                  const apf2D::tracker* tracker,
                  bool with_labels);

 private:
  /* draw a little off the ground so it renders better */
  static constexpr const double kDRAW_OFFSET = 0.05;

  /*
   * Multiply visualized force by a constant so the visualizations can more
   * easily be seen (they are usually pretty small).
   */
  static constexpr const double kVIS_MULTIPLIER = 10.0;

  void forces_draw(const apf2D::tracker* tracker, bool labels);

  void path_draw(const rmath::vector3d& pos,
                 const ::argos::CQuaternion& orientation,
                 const apf2D::tracker* tracker);

  /* clang-format off */
  double                                 m_text_vis_offset{0.0};
  ::argos::CQTOpenGLUserFunctions* const m_qt{nullptr};
  /* clang-format on */
};

} /* namespace cosm::argos::vis */