The CoinRobotViewerAdapter class. More...

#include <RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Visualization/CoinRobotViewerAdapter.h>

Inheritance diagram for CoinRobotViewerAdapter:

Public Member Functions
void	addRobotVisualization (VirtualRobot::RobotPtr robot, QString selectedChain) override
	METHODS FOR VISUALIZATION SETUP. More...

void	addSceneVisualization (VirtualRobot::ScenePtr scene) override
	addSceneVisualization visualizes the whole scene where the robot is placed in More...

void	addTransitionVisualization (int index, std::vector< PoseBasePtr > transition) override
	METHODS FOR TRANSITIONS. More...

void	addWaypointVisualization (int index, PoseBasePtr waypoint, VirtualRobot::EndEffectorPtr tcp) override
	METHODS FOR WAYPOINTS. More...

void	clearTrajectory () override
	clearTrajectory removes all visualization of waypoints and transitions but keeps the robot and the maipulator visualized More...

	CoinRobotViewerAdapter (QWidget *widget)
	CoinRobotViewerAdapter. More...

void	disableVisualization () override
	disableVisualization hides the viewer More...

void	enableVisualization () override
	enableVisualization shows the viewer More...

Eigen::Matrix4f	getManipulatorPose () override
	INHERITED BY OBSERVER. More...

int	getSelectedWaypoint () override
	getSelectedWaypoint More...

void	highlightTransitionVisualization (int index, std::vector< PoseBasePtr > transition) override
	highlightTransitionVisualization highlights the transition with index i by changing the color of all points belonging to that transition More...

void	removeAllWaypointVisualizations () override
	removeAllWaypointVisualizations removes all waypoints that are currently visualized More...

void	removeTransitionVisualization (int index) override
	removeTransitionVisualization removes visualization of a certain transition More...

void	removeWaypointVisualization (int index) override
	removeWaypointVisualization removes the Waypoint with index so that it is no longer visualized More...

RobotVisualizationPtr	reproduce (QWidget *parent) override
	UPDATING OF VISUALIZATION. More...

void	setCamera (const Eigen::VectorXf position, const Eigen::VectorXf pointAtA, const Eigen::VectorXf pointAtB) override
	setCamera sets the camera at a certain position More...

void	setManipulator (VirtualRobot::RobotNodeSetPtr kc, std::vector< float >jointAngles) override
	SETTING MANIPULATOR. More...

void	setSelectedWaypoint (int index) override
	removeWaypointVisualization removes the Waypoint with index so that it is no longer visualized More...

void	updateRobotVisualization () override
	UPDATING OF VISUALIZATION. More...

	~CoinRobotViewerAdapter ()

Public Member Functions inherited from VisualizationSubject
void	removeObservers ()

void	setObserver (VisualizationObserverPtr observer)
	setObserver adds a new observer to this subject, everytime the subjet changes the observer should be notified by calling its refresh method More...

Protected Member Functions
AdvancedVisualizationFactoryPtr	createAdvancedVisualizationFactory () override

Additional Inherited Members
Protected Attributes inherited from RobotVisualization
VirtualRobot::RobotPtr	robot

VirtualRobot::ScenePtr	scene

Protected Attributes inherited from VisualizationSubject
std::weak_ptr< VisualizationObserver >	observer

Detailed Description

The CoinRobotViewerAdapter class.

Definition at line 41 of file CoinRobotViewerAdapter.h.

Constructor & Destructor Documentation

◆ CoinRobotViewerAdapter()

CoinRobotViewerAdapter ( QWidget * widget )

CoinRobotViewerAdapter.

Parameters

widget the parent widget on the gui

Definition at line 68 of file CoinRobotViewerAdapter.cpp.

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◆ ~CoinRobotViewerAdapter()

~CoinRobotViewerAdapter ( )

Definition at line 106 of file CoinRobotViewerAdapter.cpp.

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Member Function Documentation

◆ addRobotVisualization()

void addRobotVisualization	(	VirtualRobot::RobotPtr	robot,
		QString	selectedChain = `""`
	)

overridevirtual

METHODS FOR VISUALIZATION SETUP.

Implements RobotVisualization.

Definition at line 140 of file CoinRobotViewerAdapter.cpp.

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◆ addSceneVisualization()

void addSceneVisualization ( VirtualRobot::ScenePtr scene )

overridevirtual

addSceneVisualization visualizes the whole scene where the robot is placed in

Parameters

scene

Implements RobotVisualization.

Definition at line 178 of file CoinRobotViewerAdapter.cpp.

◆ addTransitionVisualization()

void addTransitionVisualization	(	int	index,
		std::vector< PoseBasePtr >	transition
	)

overridevirtual

METHODS FOR TRANSITIONS.

Implements RobotVisualization.

Definition at line 194 of file CoinRobotViewerAdapter.cpp.

◆ addWaypointVisualization()

void addWaypointVisualization	(	int	index,
		PoseBasePtr	waypoint,
		VirtualRobot::EndEffectorPtr	tcp
	)

overridevirtual

METHODS FOR WAYPOINTS.

Implements RobotVisualization.

Definition at line 247 of file CoinRobotViewerAdapter.cpp.

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◆ clearTrajectory()

void clearTrajectory ( )

overridevirtual

clearTrajectory removes all visualization of waypoints and transitions but keeps the robot and the maipulator visualized

Implements RobotVisualization.

Definition at line 342 of file CoinRobotViewerAdapter.cpp.

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◆ createAdvancedVisualizationFactory()

AdvancedVisualizationFactoryPtr createAdvancedVisualizationFactory ( )

overrideprotectedvirtual

Implements RobotVisualization.

Definition at line 242 of file CoinRobotViewerAdapter.cpp.

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◆ disableVisualization()

void disableVisualization ( )

overridevirtual

disableVisualization hides the viewer

Implements RobotVisualization.

Definition at line 337 of file CoinRobotViewerAdapter.cpp.

◆ enableVisualization()

void enableVisualization ( )

overridevirtual

enableVisualization shows the viewer

Implements RobotVisualization.

Definition at line 332 of file CoinRobotViewerAdapter.cpp.

◆ getManipulatorPose()

Eigen::Matrix4f getManipulatorPose ( )

overridevirtual

INHERITED BY OBSERVER.

Implements VisualizationSubject.

Definition at line 231 of file CoinRobotViewerAdapter.cpp.

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◆ getSelectedWaypoint()

int getSelectedWaypoint ( )

overridevirtual

getSelectedWaypoint

Returns: the waypoint selected in the GUI

Implements VisualizationSubject.

Definition at line 236 of file CoinRobotViewerAdapter.cpp.

◆ highlightTransitionVisualization()

void highlightTransitionVisualization	(	int	index,
		std::vector< PoseBasePtr >	transition
	)

overridevirtual

highlightTransitionVisualization highlights the transition with index i by changing the color of all points belonging to that transition

Parameters

index	the index of the transition to be highlighted starting with 0
transition	the transition to be highlighted

Implements RobotVisualization.

Definition at line 210 of file CoinRobotViewerAdapter.cpp.

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◆ removeAllWaypointVisualizations()

void removeAllWaypointVisualizations ( )

overridevirtual

removeAllWaypointVisualizations removes all waypoints that are currently visualized

Implements RobotVisualization.

Definition at line 293 of file CoinRobotViewerAdapter.cpp.

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◆ removeTransitionVisualization()

void removeTransitionVisualization ( int index )

overridevirtual

removeTransitionVisualization removes visualization of a certain transition

Parameters

index the index of the transition to be removed starting with 0

Implements RobotVisualization.

Definition at line 203 of file CoinRobotViewerAdapter.cpp.

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◆ removeWaypointVisualization()

void removeWaypointVisualization ( int index )

overridevirtual

removeWaypointVisualization removes the Waypoint with index so that it is no longer visualized

Parameters

index the index of the waypoint to be removed starting with 0

Implements RobotVisualization.

Definition at line 285 of file CoinRobotViewerAdapter.cpp.

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◆ reproduce()

RobotVisualizationPtr reproduce ( QWidget * parent )

overridevirtual

UPDATING OF VISUALIZATION.

Implements RobotVisualization.

Definition at line 355 of file CoinRobotViewerAdapter.cpp.

◆ setCamera()

void setCamera	(	const Eigen::VectorXf	position,
		const Eigen::VectorXf	pointAtA,
		const Eigen::VectorXf	pointAtB
	)

overridevirtual

setCamera sets the camera at a certain position

Parameters

position	the 3D Position of the camera
pointAtA	the highest point the camera points at
pointAtB	the lowest point the camera looks at

Implements RobotVisualization.

Definition at line 184 of file CoinRobotViewerAdapter.cpp.

◆ setManipulator()

void setManipulator	(	VirtualRobot::RobotNodeSetPtr	kc,
		std::vector< float >	jointAngles
	)

overridevirtual

SETTING MANIPULATOR.

Implements RobotVisualization.

Definition at line 311 of file CoinRobotViewerAdapter.cpp.

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◆ setSelectedWaypoint()

void setSelectedWaypoint ( int index )

overridevirtual

removeWaypointVisualization removes the Waypoint with index so that it is no longer visualized

Parameters

index the index of the waypoint to be removed starting with 0

Implements RobotVisualization.

Definition at line 302 of file CoinRobotViewerAdapter.cpp.

◆ updateRobotVisualization()

void updateRobotVisualization ( )

overridevirtual

UPDATING OF VISUALIZATION.

Implements RobotVisualization.

Definition at line 327 of file CoinRobotViewerAdapter.cpp.

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

RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Visualization/CoinRobotViewerAdapter.h
RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Visualization/CoinRobotViewerAdapter.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CoinRobotViewerAdapter()

◆ ~CoinRobotViewerAdapter()

Member Function Documentation

◆ addRobotVisualization()

◆ addSceneVisualization()

◆ addTransitionVisualization()

◆ addWaypointVisualization()

◆ clearTrajectory()

◆ createAdvancedVisualizationFactory()

◆ disableVisualization()

◆ enableVisualization()

◆ getManipulatorPose()

◆ getSelectedWaypoint()

◆ highlightTransitionVisualization()

◆ removeAllWaypointVisualizations()

◆ removeTransitionVisualization()

◆ removeWaypointVisualization()

◆ reproduce()

◆ setCamera()

◆ setManipulator()

◆ setSelectedWaypoint()

◆ updateRobotVisualization()