List of all members | Public Member Functions | Protected Attributes
FrameView Class Reference

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.

Constructor & Destructor Documentation

◆ FrameView() [1/2]

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

◆ FrameView() [2/2]

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

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 )

◆ drawBox() [1/5]

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

◆ drawBox() [2/5]

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

◆ drawBox() [3/5]

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

◆ drawBox() [4/5]

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

◆ drawBox() [5/5]

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

◆ drawLine() [1/2]

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

◆ drawLine() [2/2]

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

◆ drawLines() [1/4]

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

◆ drawLines() [2/4]

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

◆ drawLines() [3/4]

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

◆ drawLines() [4/4]

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

◆ drawPointCloud()

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

◆ drawPose() [1/2]

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

◆ drawPose() [2/2]

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

◆ drawPoses() [1/2]

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

◆ drawPoses() [2/2]

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

◆ drawRobot()

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

◆ drawSphere()

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

◆ drawText()

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

◆ makeGlobal() [1/2]

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

◆ makeGlobal() [2/2]

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

◆ makeGlobalDirection()

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

◆ makeGlobalDirectionEigen()

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

◆ makeGlobalEigen() [1/2]

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

◆ makeGlobalEigen() [2/2]

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

◆ setRobotColor()

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

◆ setRobotConfig()

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

◆ setRobotPose()

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

Member Data Documentation

◆ _fallbackFrame

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

◆ _helper

class DebugDrawerHelper* _helper
protected

◆ _rn

VirtualRobot::RobotNodePtr _rn
protected
The documentation for this class was generated from the following files: