GraspCandidateVisu.h

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#pragma once
 
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/components/ArViz/Client/Layer.h>
#include <RobotAPI/interface/units/GraspCandidateProviderInterface.h>
 
namespace armarx::grasping
{
    class GraspCandidateVisu
    {
    public:
        GraspCandidateVisu();
 
 
        void visualize(const grasping::GraspCandidateDict& candidates, viz::Client& arviz);
 
        void visualize(const grasping::GraspCandidateDict& candidates,
                       viz::Layer& layerReachable,
                       viz::Layer& layerNonReachable);
 
        void visualize(const std::string& id,
                       const grasping::GraspCandidate& candidate,
                       viz::Layer& layerReachable,
                       viz::Layer& layerNonReachable);
 
        viz::Robot visualize(const std::string& name, const grasping::GraspCandidate& candidate);
        viz::Robot
        visualize(const std::string& name, const grasping::GraspCandidate& candidate, int alpha);
 
 
    public:
        int alpha_default = 255;
        std::map<std::string, int> alphasByKey = {};
    };
} // namespace armarx::grasping