51 const std::string& prefix =
"visu.");
58 void visualizeOnce(
const Time& timestamp);
63 static void visualizeFrames(
65 const std::unordered_map<std::string, std::vector<Eigen::Affine3f>>& frames);
67 static void visualizeFramesIndividual(
69 const std::unordered_map<std::string, std::vector<Eigen::Affine3f>>& frames);
78 std::optional<DebugObserverHelper> debugObserver;
86 RobotModel(
const std::filesystem::path& robotPath);
92 std::map<std::string, RobotModel> models;
97 float frequencyHz = 25.f;
99 bool framesEnabled =
false;