The RobotVisualizationController A Controller to control the visualization of the robot. More...

#include <RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Controller/RobotVisualizationController.h>

Inheritance diagram for RobotVisualizationController:

Public Slots
void	addView ()
	PARALLEL VIEWS.

void	cartesianSelectionChanged (VirtualRobot::IKSolver::CartesianSelection cs)
	IK CALLBACK METHODS.

void	clearView ()

void	displayAllWayPoints (bool display)
	displayAllWayPoints Enables Visualization and threfore selection of all waypoints of the current Trajectory and not only userWaypoints

void	environmentChanged (EnvironmentPtr environment)
	environmentChanged updates the environment that is currently visualized

void	kinematicChainChanged (VirtualRobot::RobotNodeSetPtr rns)
	kinematicChainChanged removes all visualization from the previously selected Trajectory and changes the Visualization of the Manipulator to look like the endeffector of the kinematic chain

void	playTrajectories (std::vector< DesignerTrajectoryPtr > trajectories)
	playTrajectories plays all trajectories at the same time

void	playTrajectory ()
	PLAY TRAJECTORY.

void	removeView ()
	removeView removes RobotViewer with index

void	robotChanged (VirtualRobot::RobotPtr robot)
	robotChanged updates the robot model that is currently visualized Removes the robot that is visualized prior to this one

void	selectedTransitionChanged (int index)
	selectedTransitionChanged highlights the Transition with index

void	selectedWayPointChanged (int index)
	selectedWayPointChanged highlights the waypoint with index and moves the manipulator to its Pose

void	setCamera ()
	CAMERA UPDATING METHODS.

void	setCamera (int perspective)
	setCamera sets camera to the Perspective with index perspective in the corresponding enum

void	setIKCallbackEnabled (bool enabled)
	setIKCallbackEnabled sets whther the robot Model tries to reach the Pose determined by the Manipulator

void	trajectoryPlayerStopped ()
	trajectoryPlayerStopped restarts the visualization of the whole scene after the debug drawer does not longer visualize the trajectory

void	updateViews (DesignerTrajectoryPtr trajectory)
	UPDATING OF VISUALIZATION.

Signals
void	manipulatorChanged (Eigen::Matrix4f globalPose)
	manipulatorChanged informs all relevant controllers that the pose of the manipulator has changed and therefore the currently selected Waypoint is also changed

void	poseReachable (bool reachable)
	poseReachable informs all relevant controllers whether the pose of the manipulator is reachable

void	tcpPoseChanged (Eigen::Matrix4f globalPose)
	tcpPoseChanged informs all releveant controllers about the new global pose of the manipulator

void	trajectoryPlayerNotPlaying (bool playing)
	trajectoryPlayerNotPlaying

void	trajectoryPlayerPlaying (bool playing)

void	wayPointSelected (int index)
	wayPointSelected informs all relevant controllers that the currently selected Waypoit has been changed via click on the waypoint in the RobotViewer

Public Member Functions
void	addConnection (std::shared_ptr< RobotVisualizationController > ctr)

void	onConnectComponent () override
	Connects all signals and slots of the controller.

void	onDisconnectComponent () override
	Called whenever a component is disconnected.

void	onExitComponent () override
	Called on exit, cleans.

void	onInitComponent () override
	Initializes the controller.

void	refresh () override
	refresh gets all relevant data from subject an updates itself accoringly should be called by subject but can also be called from elsewhere

	RobotVisualizationController (QWidget *parent)
	RobotVisualizationController creates a new RobotVisualizationController.

	~RobotVisualizationController ()

Friends
class	RobotVisualization

Detailed Description

The RobotVisualizationController A Controller to control the visualization of the robot.

Hides the concrete visualization Method(Coin,OSG) from the rest of the application. Provides Methods for adding Visualization of one Robot at a time, waypoints and transitions between waypoints. Supports up to four parallel views. Informs other Controllers about the Position of the Manipulator, the TCP and the selected waypoint.

Constructor & Destructor Documentation

◆ RobotVisualizationController()

RobotVisualizationController ( QWidget * parent )

RobotVisualizationController creates a new RobotVisualizationController.

INITIALIZATION.

Parameters

parent the widget in which th viewer should be placed in

◆ ~RobotVisualizationController()

~RobotVisualizationController ( )

Member Function Documentation

◆ addConnection()

void addConnection ( std::shared_ptr< RobotVisualizationController > ctr )

◆ addView

void addView ( )

slot

PARALLEL VIEWS.

addView adds new RobotViewer

◆ cartesianSelectionChanged

void cartesianSelectionChanged ( VirtualRobot::IKSolver::CartesianSelection cs )

slot

IK CALLBACK METHODS.

cartesianSelectionChanged recalculates the configuration of the robot joints to fit the new selection

Parameters

cs	the new CartesianSelection

◆ clearView

void clearView ( )

slot

◆ displayAllWayPoints

void displayAllWayPoints ( bool display )

slot

displayAllWayPoints Enables Visualization and threfore selection of all waypoints of the current Trajectory and not only userWaypoints

Parameters

display

◆ environmentChanged

void environmentChanged ( EnvironmentPtr environment )

slot

environmentChanged updates the environment that is currently visualized

UPDATING OF VISUALIZATION.

Parameters

environment the new environment

◆ kinematicChainChanged

void kinematicChainChanged ( VirtualRobot::RobotNodeSetPtr rns )

slot

kinematicChainChanged removes all visualization from the previously selected Trajectory and changes the Visualization of the Manipulator to look like the endeffector of the kinematic chain

Parameters

selectedChain

◆ manipulatorChanged

void manipulatorChanged ( Eigen::Matrix4f globalPose )

signal

manipulatorChanged informs all relevant controllers that the pose of the manipulator has changed and therefore the currently selected Waypoint is also changed

◆ onConnectComponent()

void onConnectComponent ( )

overridevirtual

Connects all signals and slots of the controller.

Implements AbstractController.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

overridevirtual

Called whenever a component is disconnected.

Implements AbstractController.

◆ onExitComponent()

void onExitComponent ( )

overridevirtual

Called on exit, cleans.

Implements AbstractController.

◆ onInitComponent()

void onInitComponent ( )

overridevirtual

Initializes the controller.

Implements AbstractController.

◆ playTrajectories

void playTrajectories ( std::vector< DesignerTrajectoryPtr > trajectories )

slot

playTrajectories plays all trajectories at the same time

Parameters

trajectories the trajectories to play - no duplicates of selected robot node sets allowed!

◆ playTrajectory

void playTrajectory ( )

slot

PLAY TRAJECTORY.

playTrajectories plays the currently selected trajectory and disables all other visualization features

◆ poseReachable

void poseReachable ( bool reachable )

signal

poseReachable informs all relevant controllers whether the pose of the manipulator is reachable

Parameters

reachable true when there is an IK-solution for the manipulator could be found

◆ refresh()

void refresh ( )

overridevirtual

refresh gets all relevant data from subject an updates itself accoringly should be called by subject but can also be called from elsewhere

Implements VisualizationObserver.

◆ removeView

void removeView ( )

slot

removeView removes RobotViewer with index

Parameters

index the index of the view to remove

◆ robotChanged

void robotChanged ( VirtualRobot::RobotPtr robot )

slot

robotChanged updates the robot model that is currently visualized Removes the robot that is visualized prior to this one

Parameters

robot the new Robot to visualize

◆ selectedTransitionChanged

void selectedTransitionChanged ( int index )

slot

selectedTransitionChanged highlights the Transition with index

Parameters

index the index of the transition that should be highlighted

◆ selectedWayPointChanged

void selectedWayPointChanged ( int index )

slot

selectedWayPointChanged highlights the waypoint with index and moves the manipulator to its Pose

Parameters

index the index of the waypoint to select next

◆ setCamera [1/2]

void setCamera ( )

slot

CAMERA UPDATING METHODS.

setCamera Sets the camera of all views to standard Position sets camera to standard perspective

◆ setCamera [2/2]

void setCamera ( int perspective )

slot

setCamera sets camera to the Perspective with index perspective in the corresponding enum

Parameters

perspective the selected perspective 0 - High Angle 1 - Top 2 - Front 3 - Back 4 - Left 5 - Right

◆ setIKCallbackEnabled

void setIKCallbackEnabled ( bool enabled )

slot

setIKCallbackEnabled sets whther the robot Model tries to reach the Pose determined by the Manipulator

Parameters

enabled if true the robot follows the manipulator

◆ tcpPoseChanged

void tcpPoseChanged ( Eigen::Matrix4f globalPose )

signal

tcpPoseChanged informs all releveant controllers about the new global pose of the manipulator

Parameters

globalPose the pose of the manipulator relative to the global frame

◆ trajectoryPlayerNotPlaying

void trajectoryPlayerNotPlaying ( bool playing )

signal

trajectoryPlayerNotPlaying

Parameters

playing

◆ trajectoryPlayerPlaying

void trajectoryPlayerPlaying ( bool playing )

signal

◆ trajectoryPlayerStopped

void trajectoryPlayerStopped ( )

slot

trajectoryPlayerStopped restarts the visualization of the whole scene after the debug drawer does not longer visualize the trajectory

◆ updateViews

void updateViews ( armarx::DesignerTrajectoryPtr trajectory )

slot

UPDATING OF VISUALIZATION.

updateViews Removes the current visualization of all Waypoints and Transitions and replaces them with the visualization of the new Trajectory

Parameters

trajectory the trajectory to display next

◆ wayPointSelected

void wayPointSelected ( int index )

signal

wayPointSelected informs all relevant controllers that the currently selected Waypoit has been changed via click on the waypoint in the RobotViewer

Parameters

index

Friends And Related Symbol Documentation

◆ RobotVisualization

friend class RobotVisualization

friend

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

RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Controller/RobotVisualizationController.h
RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Controller/RobotVisualizationController.cpp

Public Slots

Signals

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ RobotVisualizationController()

◆ ~RobotVisualizationController()

Member Function Documentation

◆ addConnection()

◆ addView

◆ cartesianSelectionChanged

◆ clearView

◆ displayAllWayPoints

◆ environmentChanged

◆ kinematicChainChanged

◆ manipulatorChanged

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ playTrajectories

◆ playTrajectory

◆ poseReachable

◆ refresh()

◆ removeView

◆ robotChanged

◆ selectedTransitionChanged

◆ selectedWayPointChanged

◆ setCamera [1/2]

◆ setCamera [2/2]

◆ setIKCallbackEnabled

◆ tcpPoseChanged

◆ trajectoryPlayerNotPlaying

◆ trajectoryPlayerPlaying

◆ trajectoryPlayerStopped

◆ updateViews

◆ wayPointSelected

Friends And Related Symbol Documentation

◆ RobotVisualization