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28 #include <AffordanceKit/UnimanualAffordance.h>
29 #include <Inventor/nodes/SoCoordinate3.h>
30 #include <Inventor/nodes/SoLineSet.h>
31 #include <Inventor/nodes/SoMaterial.h>
43 const std::string& layerName,
44 const std::string&
id,
45 float minExpectedProbability,
46 const AffordanceKit::PrimitivePtr& primitive);
AffordanceKit::UnimanualAffordancePtr affordance
float computeSamplingDistance(const Eigen::Matrix4f &sampling1, const Eigen::Matrix4f &sampling2)
Eigen::Vector3f computeSamplingPosition(const Eigen::Matrix4f &pose, float offset)
MatrixXX< 4, 4, float > Matrix4f
std::shared_ptr< UnimanualAffordanceArmarX > UnimanualAffordanceArmarXPtr
SoMaterial * visualizationMaterialNode
~UnimanualAffordanceArmarX()
void visualize(const armarx::DebugDrawerInterfacePrx &debugDrawer, const std::string &layerName, const std::string &id, float minExpectedProbability, const AffordanceKit::PrimitivePtr &primitive)
SoSeparator * visualizationNode
SoCoordinate3 * visualizationCoordinateNode
SoLineSet * visualizationLineSetNode
UnimanualAffordanceArmarX(const AffordanceKit::UnimanualAffordancePtr &unimanualAffordance)