docs/images/rviz_3d_visualizer_uml.svg

<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="1031px" height="641px" viewBox="-0.5 -0.5 1031 641" content="&lt;mxfile host=&quot;app.diagrams.net&quot; modified=&quot;2020-10-29T17:08:07.502Z&quot; agent=&quot;5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/85.0.4183.121 Safari/537.36&quot; version=&quot;13.6.5&quot; etag=&quot;KK57lgE00I-xKiy4pQxa&quot; type=&quot;device&quot;&gt;&lt;diagram id=&quot;6VazPBzR9SjI2Chqqq5y&quot;&gt;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&lt;/diagram&gt;&lt;/mxfile&gt;" style="background-color: rgb(255, 255, 255);"><defs><clipPath id="mx-clip-183-123-172-56-0"><rect x="183" y="123" width="172" height="56"/></clipPath><clipPath id="mx-clip-183-292-172-64-0"><rect x="183" y="292" width="172" height="64"/></clipPath><clipPath id="mx-clip-604-135-152-26-0"><rect x="604" y="135" width="152" height="26"/></clipPath><clipPath id="mx-clip-604-355-152-70-0"><rect x="604" y="355" width="152" height="70"/></clipPath><clipPath id="mx-clip-854-333-152-54-0"><rect x="854" y="333" width="152" height="54"/></clipPath><clipPath id="mx-clip-335-520-152-46-0"><rect x="335" y="520" width="152" height="46"/></clipPath><clipPath id="mx-clip-54-496-152-74-0"><rect x="54" y="496" width="152" height="74"/></clipPath></defs><g><rect x="580" y="260" width="450" height="220" fill="none" stroke="#000000" stroke-dasharray="3 3" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 452px; height: 220px; padding-top: 260px; margin-left: 580px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; width: 452px; height: 220px; overflow: hidden; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #1A1A1A; line-height: 1.2; pointer-events: all; width: 100%; height: 100%; white-space: normal; word-wrap: normal; "><p style="margin: 0px ; margin-top: 4px ; text-align: center"><b>RVizVisualization</b></p><hr /><p style="font-size: 10px ; margin: 0px ; text-align: center"><span style="color: rgba(0 , 0 , 0 , 0) ; font-family: monospace ; font-size: 0px">%3CmxGraphModel%3E%3Croot%3E%3CmxCell%20id%3D%220%22%2F%3E%3CmxCell%20id%3D%221%22%20parent%3D%220%22%2F%3E%3CmxCell%20id%3D%222%22%20value%3D%221%22%20style%3D%22edgeLabel%3Bhtml%3D1%3Balign%3Dcenter%3BverticalAlign%3Dmiddle%3Bresizable%3D0%3Bpoints%3D%5B%5D%3BfontColor%3D%231A1A1A%3BlabelBackgroundColor%3Dnone%3B%22%20vertex%3D%221%22%20connectable%3D%220%22%20parent%3D%221%22%3E%3CmxGeometry%20x%3D%22355.7151724137932%22%20y%3D%22465.02724137931045%22%20as%3D%22geometry%22%2F%3E%3C%2FmxCell%3E%3C%2Froot%3E%3C%2FmxGraphModel%3E</span><br /></p></div></div></div></foreignObject><text x="580" y="374" fill="#1A1A1A" font-family="Helvetica" font-size="12px">RVizVisualization...</text></switch></g><rect x="0" y="0" width="550" height="640" fill="none" stroke="#000000" stroke-dasharray="3 3" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 552px; height: 640px; padding-top: 0px; margin-left: 0px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; width: 552px; height: 640px; overflow: hidden; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #1A1A1A; line-height: 1.2; pointer-events: all; width: 100%; height: 100%; white-space: normal; word-wrap: normal; "><p style="margin: 0px ; margin-top: 4px ; text-align: center"><b>RvizDataLoader</b></p><hr /><p style="font-size: 10px ; margin: 0px ; text-align: center"><span style="color: rgba(0 , 0 , 0 , 0) ; font-family: monospace ; font-size: 0px">%3CmxGraphModel%3E%3Croot%3E%3CmxCell%20id%3D%220%22%2F%3E%3CmxCell%20id%3D%221%22%20parent%3D%220%22%2F%3E%3CmxCell%20id%3D%222%22%20value%3D%221%22%20style%3D%22edgeLabel%3Bhtml%3D1%3Balign%3Dcenter%3BverticalAlign%3Dmiddle%3Bresizable%3D0%3Bpoints%3D%5B%5D%3BfontColor%3D%231A1A1A%3BlabelBackgroundColor%3Dnone%3B%22%20vertex%3D%221%22%20connectable%3D%220%22%20parent%3D%221%22%3E%3CmxGeometry%20x%3D%22355.7151724137932%22%20y%3D%22465.02724137931045%22%20as%3D%22geometry%22%2F%3E%3C%2FmxCell%3E%3C%2Froot%3E%3C%2FmxGraphModel%3E</span><br /></p></div></div></div></foreignObject><text x="0" y="324" fill="#1A1A1A" font-family="Helvetica" font-size="12px">RvizDataLoader...</text></switch></g><path d="M 179 88 L 179 48 L 359 48 L 359 88" fill="#f5ab50" stroke="#909090" stroke-miterlimit="10" pointer-events="all"/><path d="M 179 88 L 179 188 L 359 188 L 359 88" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 179 88 L 359 88" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><g fill="#1A1A1A" font-family="Helvetica" font-style="italic" pointer-events="none" text-anchor="middle" font-size="12px"><text x="268.5" y="65.5">{Abstract}</text><text x="268.5" y="79.5">AbstractDataLoader</text></g><path d="M 179 103 L 359 103" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><g fill="#1A1A1A" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-183-123-172-56-0)" font-size="12px"><text x="184.5" y="135.5">+ virtual queryDatabase()</text><text x="184.5" y="149.5">+ virtual publishObjectData()</text><text x="184.5" y="163.5">+ virtual runDataUpdateLoop()</text></g><path d="M 269 237 L 269 212 L 269 212 L 269 200.12" fill="none" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><path d="M 269 189.12 L 274.5 200.12 L 263.5 200.12 Z" fill="none" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><path d="M 179 263 L 179 237 L 359 237 L 359 263" fill="#f5ab50" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 179 263 L 179 367 L 359 367 L 359 263" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 179 263 L 359 263" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><g fill="#1A1A1A" font-family="Helvetica" font-style="italic" pointer-events="none" text-anchor="middle" font-size="12px"><text x="268.5" y="254.5">MDRDataloader</text></g><path d="M 179 275 L 359 275" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><g fill="#1A1A1A" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-183-292-172-64-0)" font-size="12px"><text x="184.5" y="304.5">+ fillObjectCategoryMeshMap()</text><text x="184.5" y="318.5">+ updateObjectData()</text><text x="184.5" y="332.5">+ fillPoseDetails()</text><text x="184.5" y="346.5">+ getObjectMeshType()</text></g><path d="M 600 106 L 600 80 L 760 80 L 760 106" fill="#f5ab50" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 600 106 L 600 170 L 760 170 L 760 106" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 600 106 L 760 106" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><g fill="#1A1A1A" font-family="Helvetica" font-style="italic" pointer-events="none" text-anchor="middle" font-size="12px"><text x="679.5" y="97.5">Panel</text></g><path d="M 600 118 L 760 118" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><g fill="#1A1A1A" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-604-135-152-26-0)" font-size="12px"><text x="605.5" y="147.5">+ virtual onInitialize()</text></g><path d="M 600 326 L 600 300 L 760 300 L 760 326" fill="#f5ab50" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 600 326 L 600 460 L 760 460 L 760 326" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 600 326 L 760 326" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><g fill="#1A1A1A" font-family="Helvetica" font-style="italic" pointer-events="none" text-anchor="middle" font-size="12px"><text x="679.5" y="317.5">ObjectVIsualizationManager</text></g><path d="M 600 338 L 760 338" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><g fill="#1A1A1A" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-604-355-152-70-0)" font-size="12px"><text x="605.5" y="367.5"># markerArrayCallback()</text><text x="605.5" y="381.5"># updateMarker()</text><text x="605.5" y="395.5"># deleteMarker()</text><text x="605.5" y="409.5"># addMarker()</text></g><path d="M 850 105 L 850 79 L 1010 79 L 1010 105" fill="#f5ab50" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 850 105 L 850 171 L 1010 171 L 1010 105" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 850 105 L 1010 105" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><g fill="#1A1A1A" font-family="Helvetica" font-style="italic" pointer-events="none" text-anchor="middle" font-size="12px"><text x="929.5" y="96.5">MarkerBase</text></g><path d="M 850 117 L 1010 117" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 680 300 L 680 236 L 680 236 L 680 182.12" fill="none" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><path d="M 680 171.12 L 685.5 182.12 L 674.5 182.12 Z" fill="none" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><path d="M 850 328 L 850 302 L 1010 302 L 1010 328" fill="#f5ab50" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 850 328 L 850 458 L 1010 458 L 1010 328" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 850 328 L 1010 328" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><g fill="#1A1A1A" font-family="Helvetica" font-style="italic" pointer-events="none" text-anchor="middle" font-size="12px"><text x="929.5" y="319.5">MarkerInfo</text></g><g fill="#1A1A1A" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-854-333-152-54-0)" font-size="12px"><text x="855.5" y="345.5">+ int unique_id_</text><text x="855.5" y="359.5">+ MarkerBase marker_</text><text x="855.5" y="373.5"># bool visibility_</text></g><path d="M 850 387 L 1010 387" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 775.99 380 L 847.76 380" fill="none" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><path d="M 760.99 380 L 768.49 375.59 L 775.99 380 L 768.49 384.41 Z" fill="#182e3e" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><path d="M 835.88 386.5 L 848.88 380 L 835.88 373.5" fill="none" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-end; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 374px; margin-left: 762px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; "><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: #1A1A1A; line-height: 1.2; pointer-events: none; white-space: nowrap; ">1</div></div></div></foreignObject><text x="762" y="374" fill="#1A1A1A" font-family="Helvetica" font-size="11px">1</text></switch></g><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 371px; margin-left: 843px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; "><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: #1A1A1A; line-height: 1.2; pointer-events: none; white-space: nowrap; ">n</div></div></div></foreignObject><text x="843" y="374" fill="#1A1A1A" font-family="Helvetica" font-size="11px" text-anchor="middle">n</text></switch></g><path d="M 930 286.01 L 930 173.24" fill="none" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><path d="M 930 301.01 L 925.59 293.51 L 930 286.01 L 934.41 293.51 Z" fill="#182e3e" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><path d="M 936.5 185.12 L 930 172.12 L 923.5 185.12" fill="none" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 191px; margin-left: 941px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; "><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: #1A1A1A; line-height: 1.2; pointer-events: none; white-space: nowrap; ">1</div></div></div></foreignObject><text x="941" y="195" fill="#1A1A1A" font-family="Helvetica" font-size="11px" text-anchor="middle">1</text></switch></g><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 292px; margin-left: 941px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; "><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: #1A1A1A; line-height: 1.2; pointer-events: none; white-space: nowrap; ">1</div></div></div></foreignObject><text x="941" y="295" fill="#1A1A1A" font-family="Helvetica" font-size="11px" text-anchor="middle">1</text></switch></g><path d="M 314 382.99 L 314 406 Q 314 416 324 416 L 400.8 416 Q 410.8 416 410.78 426 L 410.72 462.76" fill="none" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><path d="M 314 367.99 L 318.41 375.49 L 314 382.99 L 309.59 375.49 Z" fill="#182e3e" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><path d="M 404.24 450.87 L 410.72 463.88 L 417.24 450.89" fill="none" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 376px; margin-left: 326px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; "><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: #1A1A1A; line-height: 1.2; pointer-events: none; white-space: nowrap; ">1</div></div></div></foreignObject><text x="326" y="379" fill="#1A1A1A" font-family="Helvetica" font-size="11px" text-anchor="middle">1</text></switch></g><path d="M 224 382.99 L 224 406 Q 224 416 214 416 L 140 416 Q 130 416 130 426 L 130 462.76" fill="none" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><path d="M 224 367.99 L 228.41 375.49 L 224 382.99 L 219.59 375.49 Z" fill="#182e3e" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><path d="M 123.5 450.88 L 130 463.88 L 136.5 450.88" fill="none" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 376px; margin-left: 213px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; "><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: #1A1A1A; line-height: 1.2; pointer-events: none; white-space: nowrap; ">1</div></div></div></foreignObject><text x="213" y="379" fill="#1A1A1A" font-family="Helvetica" font-size="11px" text-anchor="middle">1</text></switch></g><path d="M 363 118 L 500 118 Q 510 118 510 128 L 510 375 Q 510 385 520 385 L 591.88 385" fill="none" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><ellipse cx="359" cy="118" rx="4" ry="4" fill="#182e3e" stroke="#182e3e" pointer-events="none"/><path d="M 598.88 385 L 591.88 388.5 L 591.88 381.5 Z" fill="#182e3e" stroke="#182e3e" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-end; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 273px; margin-left: 470px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; "><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: #1A1A1A; line-height: 1.2; pointer-events: none; white-space: nowrap; ">MarkerArray <br />Message</div></div></div></foreignObject><text x="470" y="273" fill="#1A1A1A" font-family="Helvetica" font-size="11px" text-anchor="middle">MarkerArray...</text></switch></g><rect x="580" y="30" width="450" height="170" fill="none" stroke="#000000" stroke-dasharray="3 3" pointer-events="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 452px; height: 170px; padding-top: 30px; margin-left: 580px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; width: 452px; height: 170px; overflow: hidden; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #1A1A1A; line-height: 1.2; pointer-events: none; width: 100%; height: 100%; white-space: normal; word-wrap: normal; "><p style="margin: 0px ; margin-top: 4px ; text-align: center"><b>rviz</b></p><hr /><p style="font-size: 10px ; margin: 0px ; text-align: center"><span style="color: rgba(0 , 0 , 0 , 0) ; font-family: monospace ; font-size: 0px">%3CmxGraphModel%3E%3Croot%3E%3CmxCell%20id%3D%220%22%2F%3E%3CmxCell%20id%3D%221%22%20parent%3D%220%22%2F%3E%3CmxCell%20id%3D%222%22%20value%3D%221%22%20style%3D%22edgeLabel%3Bhtml%3D1%3Balign%3Dcenter%3BverticalAlign%3Dmiddle%3Bresizable%3D0%3Bpoints%3D%5B%5D%3BfontColor%3D%231A1A1A%3BlabelBackgroundColor%3Dnone%3B%22%20vertex%3D%221%22%20connectable%3D%220%22%20parent%3D%221%22%3E%3CmxGeometry%20x%3D%22355.7151724137932%22%20y%3D%22465.02724137931045%22%20as%3D%22geometry%22%2F%3E%3C%2FmxCell%3E%3C%2Froot%3E%3C%2FmxGraphModel%3E</span><br /></p></div></div></div></foreignObject><text x="580" y="119" fill="#1A1A1A" font-family="Helvetica" font-size="12px">rviz...</text></switch></g><path d="M 330.72 491 L 330.72 465 L 490.72 465 L 490.72 491" fill="#f5ab50" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 330.72 491 L 330.72 603 L 490.72 603 L 490.72 491" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 330.72 491 L 490.72 491" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><g fill="#1A1A1A" font-family="Helvetica" font-style="italic" pointer-events="none" text-anchor="middle" font-size="12px"><text x="410.22" y="482.5">ModelLoader</text></g><path d="M 330.72 503 L 490.72 503" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><g fill="#1A1A1A" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-335-520-152-46-0)" font-size="12px"><text x="336.22" y="532.5">+ getMeshMarker()</text><text x="336.22" y="546.5">+ getPlaneMarker()</text></g><path d="M 50 491 L 50 465 L 210 465 L 210 491" fill="#f5ab50" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 50 491 L 50 603 L 210 603 L 210 491" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><path d="M 50 491 L 210 491" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><g fill="#1A1A1A" font-family="Helvetica" font-style="italic" pointer-events="none" text-anchor="middle" font-size="12px"><text x="129.5" y="482.5">ModelData</text></g><g fill="#1A1A1A" font-family="Helvetica" pointer-events="none" clip-path="url(#mx-clip-54-496-152-74-0)" font-size="12px"><text x="55.5" y="508.5">+ int unique_id_</text><text x="55.5" y="522.5">+ string name_</text><text x="55.5" y="536.5">+ Vec3 scale_</text><text x="55.5" y="550.5">+ Vec3 color_</text><text x="55.5" y="564.5">+ Vec3 text_offset_</text></g><path d="M 50 575 L 210 575" fill="none" stroke="#909090" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 455px; margin-left: 115px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #1A1A1A; line-height: 1.2; pointer-events: none; white-space: nowrap; ">n</div></div></div></foreignObject><text x="115" y="459" fill="#1A1A1A" font-family="Helvetica" font-size="12px" text-anchor="middle">n</text></switch></g><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 455px; margin-left: 425px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #1A1A1A; line-height: 1.2; pointer-events: none; white-space: nowrap; ">1</div></div></div></foreignObject><text x="425" y="459" fill="#1A1A1A" font-family="Helvetica" font-size="12px" text-anchor="middle">1</text></switch></g></g><switch><g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/><a transform="translate(0,-5)" xlink:href="https://desk.draw.io/support/solutions/articles/16000042487" target="_blank"><text text-anchor="middle" font-size="10px" x="50%" y="100%">Viewer does not support full SVG 1.1</text></a></switch></svg>