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It allows to display\n-    // \"arbitrary\" geometries\n-    return new osg::Geode();\n+    return lineHolder->getRootNode();\n }\n \n-void LaserLine::updateMainNode ( osg::Node* node )\n+void LaserLine::updateMainNode (osg::Node* node)\n {\n-    osg::Geode* geode = static_cast<osg::Geode*>(node);\n-    // Update the main node using the data in p->data\n+    lineHolder->update(vertices, color);\n }\n \n void LaserLine::updateDataIntern(base::samples::LaserScan const& value)\n {\n-    p->data = value;\n-    std::cout << \"got new sample data\" << std::endl;\n+    loadLineVerticesFromLaserScan(value);\n }\n \n+bool LaserLine::isShowRange() const\n+{\n+    return lineHolder->isShowRange();\n+}\n+void LaserLine::setShowRange(bool value)\n+{\n+    lineHolder->setShowRange(value);\n+}\n+\n+QColor LaserLine::getColor()\n+{\n+    QColor qcolor;\n+    qcolor.setRgbF(color[0], color[1], color[2], color[3]);\n+    return qcolor;\n+}\n+\n+void LaserLine::setColor(QColor value)\n+{\n+    if (value.isValid()) {\n+        color.set(value.redF(),\n+                  value.greenF(),\n+                  value.blueF(),\n+                  value.alphaF());\n+    }\n+}\n+\n+double LaserLine::getLineWidth()\n+{\n+    return (double)lineHolder->getLineWidth();\n+}\n+\n+void LaserLine::setLineWidth(double lineWidth)\n+{\n+    lineHolder->setLineWidth((float)lineWidth);\n+}\n+\n+bool LaserLine::getShowAllLines()\n+{\n+    return showAllLines;\n+}\n+\n+void LaserLine::setShowAllLines(bool value)\n+{\n+    showAllLines = value;\n+}\n+\n+osg::ref_ptr<osg::Vec3Array> LaserLine::computePoints(base::samples::LaserScan const& laserScan, std::vector<bool>& validity)\n+{\n+    osg::Vec3Array *points = new osg::Vec3Array();\n+\n+    std::vector<uint32_t> ranges = laserScan.ranges;\n+\n+    double angle = laserScan.start_angle; //start angle\n+    double angleStep = laserScan.angular_resolution; //angle step\n+\n+    //convert max range to Point and convert the value from meters to milimiters\n+    Eigen::Vector3d maxPt = Eigen::Vector3d(meters_to_milimeters(laserScan.maxRange), 0.0, 0.0);\n+\n+    for (int i = 0; i < ranges.size(); i++) {\n+\n+        //compute the angle rotation\n+        Eigen::Quaterniond rot = Eigen::Quaterniond(Eigen::AngleAxisd(angle + (i * angleStep), Eigen::Vector3d::UnitZ()));\n+        Eigen::Vector3d pt =  rot * Eigen::Vector3d(meters_to_milimeters(ranges[i]), 0.0, 0.0);\n+        Eigen::Vector3d limit =  rot * maxPt;\n+\n+        points->push_back(osg::Vec3f(pt[0], pt[1], pt[2]));\n+\n+        //check if range is valid and if the point is less than the limit\n+        validity.push_back(laserScan.isRangeValid(ranges[i]) && (pt[0] < limit[0] && pt[1] < limit[1]));","path":"viz/LaserLine.cpp","position":120,"original_position":120,"commit_id":"8a7945ccf2d6cae2dbd8f008a55d24172b0b3f21","original_commit_id":"8a7945ccf2d6cae2dbd8f008a55d24172b0b3f21","user":{"login":"doudou","id":292,"avatar_url":"https://avatars.githubusercontent.com/u/292?v=3","gravatar_id":"","url":"https://api.github.com/users/doudou","html_url":"https://github.com/doudou","followers_url":"https://api.github.com/users/doudou/followers","following_url":"https://api.github.com/users/doudou/following{/other_user}","gists_url":"https://api.github.com/users/doudou/gists{/gist_id}","starred_url":"https://api.github.com/users/doudou/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/doudou/subscriptions","organizations_url":"https://api.github.com/users/doudou/orgs","repos_url":"https://api.github.com/users/doudou/repos","events_url":"https://api.github.com/users/doudou/events{/privacy}","received_events_url":"https://api.github.com/users/doudou/received_events","type":"User","site_admin":false},"body":"I still don't understand the comparison of pt and limit. As I understand it, it is equivalent to\r\n\r\n~~~\r\nif (pt.x < limit.x && pt.y < limit.y)\r\n~~~\r\n\r\nAm I right ?\r\n","created_at":"2015-08-07T20:06:03Z","updated_at":"2015-08-07T20:06:03Z","html_url":"https://github.com/Brazilian-Institute-of-Robotics/gui-vizkit3d_laser_line/pull/2#discussion_r36555863","pull_request_url":"https://api.github.com/repos/Brazilian-Institute-of-Robotics/gui-vizkit3d_laser_line/pulls/2","_links":{"self":{"href":"https://api.github.com/repos/Brazilian-Institute-of-Robotics/gui-vizkit3d_laser_line/pulls/comments/36555863"},"html":{"href":"https://github.com/Brazilian-Institute-of-Robotics/gui-vizkit3d_laser_line/pull/2#discussion_r36555863"},"pull_request":{"href":"https://api.github.com/repos/Brazilian-Institute-of-Robotics/gui-vizkit3d_laser_line/pulls/2"}}},"pull_request":{"url":"https://api.github.com/repos/Brazilian-Institute-of-Robotics/gui-vizkit3d_laser_line/pulls/2","id":41891268,"html_url":"https://github.com/Brazilian-Institute-of-Robotics/gui-vizkit3d_laser_line/pull/2","diff_url":"https://github.com/Brazilian-Institute-of-Robotics/gui-vizkit3d_laser_line/pull/2.diff","patch_url":"https://github.com/Brazilian-Institute-of-Robotics/gui-vizkit3d_laser_line/pull/2.patch","issue_url":"https://api.github.com/repos/Brazilian-Institute-of-Robotics/gui-vizkit3d_laser_line/issues/2","number":2,"state":"open","locked":false,"title":"draw 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