Path.cpp

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#include "Path.h"
 
#include <iterator>
 
#include <ArmarXCore/interface/core/BasicVectorTypes.h>
#include <ArmarXCore/interface/core/BasicVectorTypesHelpers.h>
 
namespace armarx::viz
{
 
    Path&
    Path::clear()
    {
        data_->points.clear();
 
        return *this;
    }
 
    Path&
    Path::width(float w)
    {
        data_->lineWidth = w;
 
        return *this;
    }
 
    Path&
    Path::points(std::vector<Eigen::Vector3f> const& ps)
    {
        auto& points = data_->points;
        points.clear();
        points.reserve(ps.size());
 
        std::transform(ps.begin(),
                       ps.end(),
                       std::back_inserter(points),
                       [](const auto& e) { return ToBasicVectorType(e); });
 
        return *this;
    }
 
    Path&
    Path::addPoint(Eigen::Vector3f p)
    {
        data_->points.emplace_back(ToBasicVectorType(p));
 
        return *this;
    }
 
} // namespace armarx::viz