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DebugDrawerHelper Class Reference

The DebugDrawerHelper class provides draw functions in a given frame (static matrix or robot node) and accepts eigen data types. More...

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

+ Inheritance diagram for DebugDrawerHelper:

Classes

class  Colors
 
struct  Defaults
 
struct  DrawElement
 

Public Types

enum  DrawElementType {
  Pose, Box, Line, Text,
  Arrow, ColoredPointCloud, Robot
}
 

Public Member Functions

void clearLayer ()
 
void cyclicCleanup ()
 
 DebugDrawerHelper (const DebugDrawerInterfacePrx &debugDrawerPrx, const std::string &layerName, const VirtualRobot::RobotPtr &robot)
 
 DebugDrawerHelper (const std::string &layerName)
 
const DebugDrawerInterfacePrx & getDebugDrawer () const
 
const VirtualRobot::RobotPtr & getRobot () const
 
FrameView inFrame (const Eigen::Matrix4f &frame=Eigen::Matrix4f::Identity())
 
FrameView inFrame (const std::string &nodeName)
 
FrameView inFrame (const VirtualRobot::RobotNodePtr &node)
 
FrameView inGlobalFrame ()
 
void removeElement (const std::string &name, DrawElementType type)
 
void setDebugDrawer (const DebugDrawerInterfacePrx &drawer)
 
void setDefaultFrame (const Eigen::Matrix4f &frame=Eigen::Matrix4f::Identity())
 
void setDefaultFrame (const std::string &nodeName)
 
void setDefaultFrame (const VirtualRobot::RobotNodePtr &node)
 
void setDefaultFrameToGlobal ()
 
void setRobot (const VirtualRobot::RobotPtr &rob)
 
void setVisuEnabled (bool enableVisu)
 
- Public Member Functions inherited from FrameView
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)
 

Public Attributes

Defaults defaults
 

Friends

class armarx::detail::DebugDrawerHelper::FrameView
 

Additional Inherited Members

- Protected Attributes inherited from FrameView
Eigen::Matrix4f _fallbackFrame = Eigen::Matrix4f::Identity()
 
class DebugDrawerHelper * _helper
 
VirtualRobot::RobotNodePtr _rn
 

Detailed Description

The DebugDrawerHelper class provides draw functions in a given frame (static matrix or robot node) and accepts eigen data types.

Note
Implement new draw functions in armarx::detail::DebugDrawerHelper::FrameView

Definition at line 180 of file DebugDrawerHelper.h.

Member Enumeration Documentation

◆ DrawElementType

enum DrawElementType
strong
Enumerator
Pose 
Box 
Line 
Text 
Arrow 
ColoredPointCloud 
Robot 

Definition at line 191 of file DebugDrawerHelper.h.

Constructor & Destructor Documentation

◆ DebugDrawerHelper() [1/2]

DebugDrawerHelper ( const DebugDrawerInterfacePrx &  debugDrawerPrx,
const std::string &  layerName,
const VirtualRobot::RobotPtr &  robot 
)

Definition at line 372 of file DebugDrawerHelper.cpp.

◆ DebugDrawerHelper() [2/2]

DebugDrawerHelper ( const std::string &  layerName)

Definition at line 383 of file DebugDrawerHelper.cpp.

Member Function Documentation

◆ clearLayer()

void clearLayer ( )

Definition at line 390 of file DebugDrawerHelper.cpp.

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◆ cyclicCleanup()

void cyclicCleanup ( )

Definition at line 399 of file DebugDrawerHelper.cpp.

◆ getDebugDrawer()

const DebugDrawerInterfacePrx & getDebugDrawer ( ) const

Definition at line 473 of file DebugDrawerHelper.cpp.

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◆ getRobot()

const VirtualRobot::RobotPtr & getRobot ( ) const

Definition at line 467 of file DebugDrawerHelper.cpp.

◆ inFrame() [1/3]

DebugDrawerHelper::FrameView inFrame ( const Eigen::Matrix4f &  frame = Eigen::Matrix4f::Identity())

Definition at line 492 of file DebugDrawerHelper.cpp.

◆ inFrame() [2/3]

DebugDrawerHelper::FrameView inFrame ( const std::string &  nodeName)

Definition at line 504 of file DebugDrawerHelper.cpp.

◆ inFrame() [3/3]

DebugDrawerHelper::FrameView inFrame ( const VirtualRobot::RobotNodePtr &  node)

Definition at line 513 of file DebugDrawerHelper.cpp.

◆ inGlobalFrame()

DebugDrawerHelper::FrameView inGlobalFrame ( )

Definition at line 498 of file DebugDrawerHelper.cpp.

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◆ removeElement()

void removeElement ( const std::string &  name,
DebugDrawerHelper::DrawElementType  type 
)

Definition at line 436 of file DebugDrawerHelper.cpp.

◆ setDebugDrawer()

void setDebugDrawer ( const DebugDrawerInterfacePrx &  drawer)

Definition at line 479 of file DebugDrawerHelper.cpp.

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◆ setDefaultFrame() [1/3]

void setDefaultFrame ( const Eigen::Matrix4f &  frame = Eigen::Matrix4f::Identity())

Definition at line 521 of file DebugDrawerHelper.cpp.

◆ setDefaultFrame() [2/3]

void setDefaultFrame ( const std::string &  nodeName)

Definition at line 537 of file DebugDrawerHelper.cpp.

◆ setDefaultFrame() [3/3]

void setDefaultFrame ( const VirtualRobot::RobotNodePtr &  node)

Definition at line 546 of file DebugDrawerHelper.cpp.

◆ setDefaultFrameToGlobal()

void setDefaultFrameToGlobal ( )

Definition at line 529 of file DebugDrawerHelper.cpp.

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◆ setRobot()

void setRobot ( const VirtualRobot::RobotPtr &  rob)

Definition at line 486 of file DebugDrawerHelper.cpp.

◆ setVisuEnabled()

void setVisuEnabled ( bool  enableVisu)

Definition at line 430 of file DebugDrawerHelper.cpp.

Friends And Related Function Documentation

◆ armarx::detail::DebugDrawerHelper::FrameView

friend class armarx::detail::DebugDrawerHelper::FrameView
friend

Definition at line 183 of file DebugDrawerHelper.h.

Member Data Documentation

◆ defaults

Defaults defaults

Definition at line 238 of file DebugDrawerHelper.h.

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