//-----------------------------------------------------------------------------
void RPathPlanner::render_opaque(const Camera* cam)
{
    (void)cam;
    glMatrixMode(GL_MODELVIEW);
    glPushMatrix();  //!!!!!!!!!

    Messages::CurrentLocPoseM::const_ptr locmsg=BaseLib::Core::Dispatcher::getInst()->peekMessage<Messages::CurrentLocPoseM>();
    if (locmsg)
    {
        Matrix4d locPose=locmsg->getLocPose();
        locPose.block<3,1>(0,3)*=10;
        glMultMatrixd((const double*)&locPose);
    }

    Messages::Velodyne3DPointsM::const_ptr veloM=BaseLib::Core::Dispatcher::getInst()->peekMessage<Messages::Velodyne3DPointsM>();
    if (!veloM)
        return;  //!!!!!!!!!