GroundGrid.h

/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2026  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
 
#pragma once
 
#include <mrpt/img/TColor.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mvsim/WorldElements/WorldElementBase.h>
 
namespace mvsim
{
class GroundGrid : public WorldElementBase
{
    DECLARES_REGISTER_WORLD_ELEMENT(GroundGrid)
   public:
    GroundGrid(World* parent, const rapidxml::xml_node<char>* root);
    virtual ~GroundGrid();
 
    virtual void loadConfigFrom(const rapidxml::xml_node<char>* root) override;
 
   protected:
    virtual void internalGuiUpdate(
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical, bool childrenOnly) override;
 
    bool is_floating_;
    std::string float_center_at_vehicle_name_;
    double x_min_, x_max_, y_min_, y_max_, interval_;
    mrpt::img::TColor color_;
    double line_width_;
 
    mrpt::opengl::CGridPlaneXY::Ptr gl_groundgrid_;
};
}  // namespace mvsim