Detailed Description

Defines the OIFwdKinematicsInterface class. To use this class you can either create a direct instance of this class or you can create a subclass and override the OIFwdKinematicsInterface::buildScenery() method.
If you create a direct instance of the OIFwdKinematicsInterface your code usually would look like this:

#include "OIFwdKinematicsInterface.h"
 
int main (int argc, char ** argv)
{
    OIFwdKinematicsInterface viewer(argc, argv, "FileToOpen.iv");
    // create an instance of the OIFwdKinematicsInterface
    viewer.run(); // start the visualisation/simulation
    return 0;
}

If you create a subclass of OIFwdKinematicsInterface you need to override the constructor and the OIFwdKinematicsInterface::buildScenery() method. If you create custom variables in the constructor or in OIFwdKinematicsInterface::buildScenery() you also need to create a destructor and free the memory of those variables.
A short example:

#include <iostream>
#include <ipsaclasses.h>
#include "OIFwdKinematicsInterface.h"
 
class MyOIFwdKinematicsInterface : public OIFwdKinematicsInterface
{
public:
    MyOIFwdKinematicsInterface(int argc, char ** argv, std::string filename = "")
    : MyOIFwdKinematicsInterface(argc, argv, filename) {}
protected:
    virtual bool buildScenery();
};
 
bool MyOIFwdKinematicsInterface::buildScenery()
{
    // omit this line if you do not want to read a scenegraph from a file
    if ( true == this->readSceneryFromFile() )
        return true;
    // create your own scenegraph
    root = new SoSeparator;
    // the remaining code
}
 
int
main (int argc, char ** argv)
{
    std::string sceneFilename = "";
    if ( 2 <= argc )
    {
        // this can be omitted if you do not want to read a file
        // the third parameter can also be left out in this case
        sceneFilename = argv[1];
        std::cout << "\n\nOpen file: " << sceneFilename << std::endl << std::endl;
    }
    MyOIFwdKinematicsInterface viewer(argc, argv, sceneFilename);
    viewer.run();
    return 0;
}

The documentation for this class was generated from the following file:

VisionX/vision_algorithms/HandLocalizationWithFingertips/Visualization/OIFwdKinematicsInterface.cpp