Robot.h
Go to the documentation of this file.
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#pragma once
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#include <
ArmarXCore/core/PackagePath.h
>
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#include "
ElementOps.h
"
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namespace
armarx::viz
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{
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class
Robot
:
public
ElementOps
<Robot, data::ElementRobot>
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{
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public
:
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using
ElementOps::ElementOps
;
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Robot
&
file
(std::string
const
&
project
, std::string
const
&
filename
)
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{
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data_
->project =
project
;
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data_
->filename =
filename
;
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return
*
this
;
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}
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Robot
&
file
(
const
armarx::PackagePath
& packagePath)
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{
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data_
->project = packagePath.
serialize
().package;
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data_
->filename = packagePath.
serialize
().package +
"/"
+ packagePath.
serialize
().path;
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return
*
this
;
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}
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Robot
&
useCollisionModel
()
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{
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data_
->drawStyle |= data::ModelDrawStyle::COLLISION;
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return
*
this
;
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}
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Robot
&
useFullModel
()
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{
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data_
->drawStyle &= ~
data
::ModelDrawStyle::COLLISION;
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return
*
this
;
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}
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Robot
&
overrideColor
(
Color
c
)
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{
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data_
->drawStyle |= data::ModelDrawStyle::OVERRIDE_COLOR;
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return
color
(
c
);
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}
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Robot
&
useOriginalColor
()
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{
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data_
->drawStyle &= ~
data
::ModelDrawStyle::OVERRIDE_COLOR;
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return
*
this
;
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}
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Robot
&
joint
(std::string
const
& name,
float
value
)
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{
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data_
->jointValues[name] =
value
;
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return
*
this
;
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}
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Robot
&
joints
(std::map<std::string, float>
const
&
values
)
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{
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data_
->jointValues =
values
;
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return
*
this
;
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}
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};
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}
ElementOps.h
armarx::viz::Robot::file
Robot & file(std::string const &project, std::string const &filename)
Definition:
Robot.h:15
armarx::viz::Robot::joint
Robot & joint(std::string const &name, float value)
Definition:
Robot.h:59
ProsthesisInterface.values
values
Definition:
ProsthesisInterface.py:190
c
constexpr T c
Definition:
UnscentedKalmanFilterTest.cpp:43
armarx::viz::ElementOps< Robot, data::ElementRobot >::data_
IceInternal::Handle< data::ElementRobot > data_
Definition:
ElementOps.h:281
project
std::string project
Definition:
VisualizationRobot.cpp:82
armarx::viz::Robot::useFullModel
Robot & useFullModel()
Definition:
Robot.h:38
armarx::viz::Robot::file
Robot & file(const armarx::PackagePath &packagePath)
Definition:
Robot.h:23
armarx::viz::ElementOps::ElementOps
ElementOps(std::string const &id)
Definition:
ElementOps.h:111
armarx::PackagePath::serialize
data::PackagePath serialize() const
Definition:
PackagePath.cpp:76
armarx::viz::ElementOps
Definition:
ElementOps.h:108
armarx::viz::Robot::joints
Robot & joints(std::map< std::string, float > const &values)
Definition:
Robot.h:66
cxxopts::value
std::shared_ptr< Value > value()
Definition:
cxxopts.hpp:926
data
uint8_t data[1]
Definition:
EtherCATFrame.h:68
armarx::viz::Color
Definition:
Color.h:13
armarx::viz::Robot::useCollisionModel
Robot & useCollisionModel()
Definition:
Robot.h:31
armarx::viz::Robot::overrideColor
Robot & overrideColor(Color c)
Definition:
Robot.h:45
armarx::viz::Robot::useOriginalColor
Robot & useOriginalColor()
Definition:
Robot.h:52
filename
std::string filename
Definition:
VisualizationRobot.cpp:83
armarx::viz::Robot
Definition:
Robot.h:10
armarx::viz::ElementOps< Robot, data::ElementRobot >::color
Robot & color(Color color)
Definition:
ElementOps.h:195
armarx::PackagePath
Definition:
PackagePath.h:55
armarx::viz
This file is part of ArmarX.
Definition:
ArVizStorage.cpp:416
PackagePath.h
RobotAPI
components
ArViz
Client
elements
Robot.h
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