This class provides the draw options for a given frame (static Matrix, or a robot node). More...

#include <RobotAPI/components/DebugDrawer/DebugDrawerHelper.h>

Inheritance diagram for FrameView:

Public Member Functions
void	drawArrow (const std::string &name, const Eigen::Vector3f &pos, const Eigen::Vector3f &direction, const DrawColor &color, float length, float width)

void	drawBox (const std::string &name, const Eigen::Matrix4f &pose, const Eigen::Vector3f &size, const DrawColor &color)

void	drawBox (const std::string &name, const Eigen::Matrix4f &pose, float size, const DrawColor &color)

void	drawBox (const std::string &name, const Eigen::Vector3f &position, float size, const DrawColor &color)

template<class FloatT >
void	drawBox (const std::string &name, const simox::OrientedBox< FloatT > &box, const DrawColor &color)

template<class FloatT >
void	drawBox (const std::string &name, const simox::XYConstrainedOrientedBox< FloatT > &box, const DrawColor &color)

void	drawLine (const std::string &name, const Eigen::Vector3f &p1, const Eigen::Vector3f &p2)

void	drawLine (const std::string &name, const Eigen::Vector3f &p1, const Eigen::Vector3f &p2, float width, const DrawColor &color)

void	drawLines (const std::string &prefix, const std::vector< Eigen::Matrix4f > &ps)

void	drawLines (const std::string &prefix, const std::vector< Eigen::Matrix4f > &ps, float width, const DrawColor &color)

void	drawLines (const std::string &prefix, const std::vector< Eigen::Vector3f > &ps)

void	drawLines (const std::string &prefix, const std::vector< Eigen::Vector3f > &ps, float width, const DrawColor &color)

void	drawPointCloud (const std::string &name, const std::vector< Eigen::Vector3f > &points, float pointSize, const DrawColor &color)

void	drawPose (const std::string &name, const Eigen::Matrix4f &pose)

void	drawPose (const std::string &name, const Eigen::Matrix4f &pose, float scale)

void	drawPoses (const std::string &prefix, const std::vector< Eigen::Matrix4f > &poses)

void	drawPoses (const std::string &prefix, const std::vector< Eigen::Matrix4f > &poses, float scale)

void	drawRobot (const std::string &name, const std::string &robotFile, const std::string &armarxProject, const Eigen::Matrix4f &pose, const DrawColor &color)

void	drawSphere (const std::string &name, const Eigen::Vector3f &position, float size, const DrawColor &color)

void	drawText (const std::string &name, const Eigen::Vector3f &p1, const std::string &text, const DrawColor &color, int size)

	FrameView (class DebugDrawerHelper &helper, const Eigen::Matrix4f frame=Eigen::Matrix4f::Identity())

	FrameView (class DebugDrawerHelper &helper, const VirtualRobot::RobotNodePtr &rn)

PosePtr	makeGlobal (const Eigen::Matrix4f &pose) const

Vector3Ptr	makeGlobal (const Eigen::Vector3f &position) const

Vector3Ptr	makeGlobalDirection (const Eigen::Vector3f &direction) const

Eigen::Vector3f	makeGlobalDirectionEigen (const Eigen::Vector3f &direction) const

Eigen::Matrix4f	makeGlobalEigen (const Eigen::Matrix4f &pose) const

Eigen::Vector3f	makeGlobalEigen (const Eigen::Vector3f &position) const

void	setRobotColor (const std::string &name, const DrawColor &color)

void	setRobotConfig (const std::string &name, const std::map< std::string, float > &config)

void	setRobotPose (const std::string &name, const Eigen::Matrix4f &pose)

Protected Attributes
Eigen::Matrix4f	_fallbackFrame = Eigen::Matrix4f::Identity()

class DebugDrawerHelper *	_helper

VirtualRobot::RobotNodePtr	_rn

Detailed Description

This class provides the draw options for a given frame (static Matrix, or a robot node).

It is used by the DebugDrawerHelper.

Note: Do not use this class directly. Use it via DebugDrawerHelper.

Definition at line 47 of file DebugDrawerHelper.h.

Constructor & Destructor Documentation

◆ FrameView() [1/2]

FrameView	(	class DebugDrawerHelper &	helper,
		const Eigen::Matrix4f	frame = `Eigen::Matrix4f::Identity()`
	)

Definition at line 37 of file DebugDrawerHelper.cpp.

◆ FrameView() [2/2]

FrameView	(	class DebugDrawerHelper &	helper,
		const VirtualRobot::RobotNodePtr &	rn
	)

Definition at line 41 of file DebugDrawerHelper.cpp.

Member Function Documentation

◆ drawArrow()

void drawArrow	(	const std::string &	name,
		const Eigen::Vector3f &	pos,
		const Eigen::Vector3f &	direction,
		const DrawColor &	color,
		float	length,
		float	width
	)

Definition at line 128 of file DebugDrawerHelper.cpp.

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◆ drawBox() [1/5]

void drawBox	(	const std::string &	name,
		const Eigen::Matrix4f &	pose,
		const Eigen::Vector3f &	size,
		const DrawColor &	color
	)

Definition at line 107 of file DebugDrawerHelper.cpp.

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◆ drawBox() [2/5]

void drawBox	(	const std::string &	name,
		const Eigen::Matrix4f &	pose,
		float	size,
		const DrawColor &	color
	)

Definition at line 212 of file DebugDrawerHelper.cpp.

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◆ drawBox() [3/5]

void drawBox	(	const std::string &	name,
		const Eigen::Vector3f &	position,
		float	size,
		const DrawColor &	color
	)

Definition at line 206 of file DebugDrawerHelper.cpp.

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◆ drawBox() [4/5]

void drawBox	(	const std::string &	name,
		const simox::OrientedBox< FloatT > &	box,
		const DrawColor &	color
	)

inline

Definition at line 91 of file DebugDrawerHelper.h.

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◆ drawBox() [5/5]

void drawBox	(	const std::string &	name,
		const simox::XYConstrainedOrientedBox< FloatT > &	box,
		const DrawColor &	color
	)

inline

Definition at line 96 of file DebugDrawerHelper.h.

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◆ drawLine() [1/2]

void drawLine	(	const std::string &	name,
		const Eigen::Vector3f &	p1,
		const Eigen::Vector3f &	p2
	)

Definition at line 218 of file DebugDrawerHelper.cpp.

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◆ drawLine() [2/2]

void drawLine	(	const std::string &	name,
		const Eigen::Vector3f &	p1,
		const Eigen::Vector3f &	p2,
		float	width,
		const DrawColor &	color
	)

Definition at line 114 of file DebugDrawerHelper.cpp.

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◆ drawLines() [1/4]

void drawLines	(	const std::string &	prefix,
		const std::vector< Eigen::Matrix4f > &	ps
	)

Definition at line 251 of file DebugDrawerHelper.cpp.

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◆ drawLines() [2/4]

void drawLines	(	const std::string &	prefix,
		const std::vector< Eigen::Matrix4f > &	ps,
		float	width,
		const DrawColor &	color
	)

Definition at line 240 of file DebugDrawerHelper.cpp.

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◆ drawLines() [3/4]

void drawLines	(	const std::string &	prefix,
		const std::vector< Eigen::Vector3f > &	ps
	)

Definition at line 232 of file DebugDrawerHelper.cpp.

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◆ drawLines() [4/4]

void drawLines	(	const std::string &	prefix,
		const std::vector< Eigen::Vector3f > &	ps,
		float	width,
		const DrawColor &	color
	)

Definition at line 224 of file DebugDrawerHelper.cpp.

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◆ drawPointCloud()

void drawPointCloud	(	const std::string &	name,
		const std::vector< Eigen::Vector3f > &	points,
		float	pointSize,
		const DrawColor &	color
	)

Definition at line 141 of file DebugDrawerHelper.cpp.

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◆ drawPose() [1/2]

void drawPose	(	const std::string &	name,
		const Eigen::Matrix4f &	pose
	)

Definition at line 93 of file DebugDrawerHelper.cpp.

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◆ drawPose() [2/2]

void drawPose	(	const std::string &	name,
		const Eigen::Matrix4f &	pose,
		float	scale
	)

Definition at line 100 of file DebugDrawerHelper.cpp.

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◆ drawPoses() [1/2]

void drawPoses	(	const std::string &	prefix,
		const std::vector< Eigen::Matrix4f > &	poses
	)

Definition at line 187 of file DebugDrawerHelper.cpp.

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◆ drawPoses() [2/2]

void drawPoses	(	const std::string &	prefix,
		const std::vector< Eigen::Matrix4f > &	poses,
		float	scale
	)

Definition at line 196 of file DebugDrawerHelper.cpp.

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◆ drawRobot()

void drawRobot	(	const std::string &	name,
		const std::string &	robotFile,
		const std::string &	armarxProject,
		const Eigen::Matrix4f &	pose,
		const DrawColor &	color
	)

Definition at line 160 of file DebugDrawerHelper.cpp.

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◆ drawSphere()

void drawSphere	(	const std::string &	name,
		const Eigen::Vector3f &	position,
		float	size,
		const DrawColor &	color
	)

Definition at line 135 of file DebugDrawerHelper.cpp.

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◆ drawText()

void drawText	(	const std::string &	name,
		const Eigen::Vector3f &	p1,
		const std::string &	text,
		const DrawColor &	color,
		int	size
	)

Definition at line 121 of file DebugDrawerHelper.cpp.

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◆ makeGlobal() [1/2]

PosePtr makeGlobal ( const Eigen::Matrix4f & pose ) const

Definition at line 73 of file DebugDrawerHelper.cpp.

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◆ makeGlobal() [2/2]

Vector3Ptr makeGlobal ( const Eigen::Vector3f & position ) const

Definition at line 78 of file DebugDrawerHelper.cpp.

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◆ makeGlobalDirection()

Vector3Ptr makeGlobalDirection ( const Eigen::Vector3f & direction ) const

Definition at line 83 of file DebugDrawerHelper.cpp.

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◆ makeGlobalDirectionEigen()

Eigen::Vector3f makeGlobalDirectionEigen ( const Eigen::Vector3f & direction ) const

Definition at line 64 of file DebugDrawerHelper.cpp.

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◆ makeGlobalEigen() [1/2]

Eigen::Matrix4f makeGlobalEigen ( const Eigen::Matrix4f & pose ) const

Definition at line 46 of file DebugDrawerHelper.cpp.

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◆ makeGlobalEigen() [2/2]

Eigen::Vector3f makeGlobalEigen ( const Eigen::Vector3f & position ) const

Definition at line 55 of file DebugDrawerHelper.cpp.

◆ setRobotColor()

void setRobotColor	(	const std::string &	name,
		const DrawColor &	color
	)

Definition at line 174 of file DebugDrawerHelper.cpp.

◆ setRobotConfig()

void setRobotConfig	(	const std::string &	name,
		const std::map< std::string, float > &	config
	)

Definition at line 169 of file DebugDrawerHelper.cpp.

◆ setRobotPose()

void setRobotPose	(	const std::string &	name,
		const Eigen::Matrix4f &	pose
	)

Definition at line 179 of file DebugDrawerHelper.cpp.

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Member Data Documentation

◆ _fallbackFrame

Eigen::Matrix4f _fallbackFrame = Eigen::Matrix4f::Identity()

protected

Definition at line 110 of file DebugDrawerHelper.h.

◆ _helper

class DebugDrawerHelper* _helper

protected

Definition at line 109 of file DebugDrawerHelper.h.

◆ _rn

VirtualRobot::RobotNodePtr _rn

protected

Definition at line 111 of file DebugDrawerHelper.h.

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

RobotAPI/components/DebugDrawer/DebugDrawerHelper.h
RobotAPI/components/DebugDrawer/DebugDrawerHelper.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FrameView() [1/2]

◆ FrameView() [2/2]

Member Function Documentation

◆ drawArrow()

◆ drawBox() [1/5]

◆ drawBox() [2/5]

◆ drawBox() [3/5]

◆ drawBox() [4/5]

◆ drawBox() [5/5]

◆ drawLine() [1/2]

◆ drawLine() [2/2]

◆ drawLines() [1/4]

◆ drawLines() [2/4]

◆ drawLines() [3/4]

◆ drawLines() [4/4]

◆ drawPointCloud()

◆ drawPose() [1/2]

◆ drawPose() [2/2]

◆ drawPoses() [1/2]

◆ drawPoses() [2/2]

◆ drawRobot()

◆ drawSphere()

◆ drawText()

◆ makeGlobal() [1/2]

◆ makeGlobal() [2/2]

◆ makeGlobalDirection()

◆ makeGlobalDirectionEigen()

◆ makeGlobalEigen() [1/2]

◆ makeGlobalEigen() [2/2]

◆ setRobotColor()

◆ setRobotConfig()

◆ setRobotPose()

Member Data Documentation

◆ _fallbackFrame

◆ _helper

◆ _rn