display_example.hpp

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#ifndef DISPLAY_Ex__HPP_
#define DISPLAY_Ex__HPP_

#include "rtslam/display.hpp"


namespace jafar {
namespace rtslam {
namespace display {

  class WorldEx;
  class MapEx;
  class RobotEx;
  class SensorEx;
  class LandmarkEx;
  class ObservationEx;
  
  class ViewerEx: public Viewer<WorldEx,MapEx,RobotEx,SensorEx,LandmarkEx,ObservationEx,boost::variant<int*> >
  {
    public:
      // some configuration parameters
    public:
      ViewerEx()
      {
        // initialize the parameters
      }
  };


  class WorldEx : public WorldDisplay
  {
      ViewerEx *viewerEx;
    public:
      WorldEx(ViewerAbstract *_viewer, rtslam::WorldAbstract *_slamWor, WorldDisplay *garbage): 
        WorldDisplay(_viewer, _slamWor, garbage), viewerEx(PTR_CAST<ViewerEx*>(_viewer)) {}
      void bufferize() {}
      void render() {}
  };

  class MapEx : public MapDisplay
  {
      ViewerEx *viewerEx;
    public:
      MapEx(ViewerAbstract *_viewer, rtslam::MapAbstract *_slamMap, WorldEx *_dispWorld): 
        MapDisplay(_viewer, _slamMap, _dispWorld), viewerEx(PTR_CAST<ViewerEx*>(_viewer)) {}
      void bufferize() {}
      void render() {}
  };

  class RobotEx : public RobotDisplay
  {
      ViewerEx *viewerEx;
    public:
      RobotEx(ViewerAbstract *_viewer, rtslam::RobotAbstract *_slamRob, MapEx *_dispMap): 
        RobotDisplay(_viewer, _slamRob, _dispMap), viewerEx(PTR_CAST<ViewerEx*>(_viewer)) {}
      void bufferize() {}
      void render() {}
  };

  class SensorEx : public SensorDisplay
  {
      ViewerEx *viewerEx;
    public:
      SensorEx(ViewerAbstract *_viewer, rtslam::SensorExteroAbstract *_slamSen, RobotEx *_dispRob): 
        SensorDisplay(_viewer, _slamSen, _dispRob), viewerEx(PTR_CAST<ViewerEx*>(_viewer)) {}
      void bufferize() {}
      void render() {}
  };

  class LandmarkEx : public LandmarkDisplay
  {
      ViewerEx *viewerEx;
    public:
      LandmarkEx(ViewerAbstract *_viewer, rtslam::LandmarkAbstract *_slamLmk, MapEx *_dispMap): 
        LandmarkDisplay(_viewer, _slamLmk, _dispMap), viewerEx(PTR_CAST<ViewerEx*>(_viewer)) {}
      void bufferize() {}
      void render() {}
  };

  class ObservationEx : public ObservationDisplay
  {
      ViewerEx *viewerEx;
    public:
      ObservationEx(ViewerAbstract *_viewer, rtslam::ObservationAbstract *_slamObs, SensorEx *_dispSen): 
        ObservationDisplay(_viewer, _slamObs, _dispSen), viewerEx(PTR_CAST<ViewerEx*>(_viewer)) {}
      void bufferize() {}
      void render() {}
  };


}}}

#endif