feat(slam): add rtabmap_ros

rtabmap/app/android/jni/tango-gl/circle.cpp

@@ -0,0 +1,36 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/circle.h"
+
+namespace tango_gl {
+Circle::Circle(float radius, int resolution) : Mesh(GL_TRIANGLE_FAN){
+  SetShader();
+  std::vector<GLfloat> vertices;
+  vertices.reserve(3 * (resolution + 2));
+  vertices.push_back(0);
+  vertices.push_back(0);
+  vertices.push_back(0);
+  float delta_theta = M_PI * 2.0f / static_cast<float>(resolution);
+  for (int i = resolution; i >= 0; i--) {
+    float theta = delta_theta * static_cast<float>(i);
+    vertices.push_back(cos(theta) * radius);
+    vertices.push_back(sin(theta) * radius);
+    vertices.push_back(0);
+  }
+  SetVertices(vertices);
+}
+}  // namespace tango_gl