#include <VisionX/vision_algorithms/HandLocalizationWithFingertips/Visualization/OIFwdKinematicsInterface.h>

Public Member Functions
void	expandFileNodes ()

bool	getPath (std::string name, SoPath &p, SoNode r=NULL)

bool	getTranslation (SbVec3f &translation, SoPath *p)

void	initviewer ()

bool	isInitialized ()

	OIFwdKinematicsInterface (std::string filename="")
	The constructor of the OIFwdKinematicsInterface class.

void	run ()

bool	setJointAngle (SoPath *p, float angle)

void	update ()

virtual	~OIFwdKinematicsInterface ()
	The virtual destructor of the OIFwdKinematicsInterface class.

Public Attributes
float	m_fFocalLengthY

SoPerspectiveCamera *	m_pCamera

SoSeparator *	m_pDavidsRoot

SoDirectionalLight *	m_pLight

SoOffscreenRenderer *	m_pOffscreenRenderer

SbViewportRegion *	m_pViewportRegion

Protected Member Functions
virtual bool	buildScenery ()
	The virtual method OIFwdKinematicsInterface::buildScenery() is used to create a scenegraph.

bool	readSceneryFromFile ()
	This method tries to read the scenegraph from the file OIFwdKinematicsInterface::sceneryFilename and stores it in OIFwdKinematicsInterface::root.

Protected Attributes
SoSeparator *	root
	This is the root node of the scenegraph which gets rendered.

Constructor & Destructor Documentation

◆ OIFwdKinematicsInterface()

OIFwdKinematicsInterface ( std::string filename = "" )

The constructor of the OIFwdKinematicsInterface class.

It initializes OIFwdKinematicsInterface::root with NULL, the OIFwdKinematicsInterface::sceneryFilename with the

Parameters

filename	and initializes the OIFwdKinematicsInterface::window variable.
int	argc the argument count passed into the main method
char	**argv the argument array passed into the main method
std::string	filename the file getting opened by OIFwdKinematicsInterface::readSceneryFromFile(). Default value is an empty string.

◆ ~OIFwdKinematicsInterface()

~OIFwdKinematicsInterface ( )

virtual

The virtual destructor of the OIFwdKinematicsInterface class.

Member Function Documentation

◆ buildScenery()

bool buildScenery ( )

protectedvirtual

The virtual method OIFwdKinematicsInterface::buildScenery() is used to create a scenegraph.

If you want to create your own scenegraph just override this method. Otherwise it reads the scenegraph stored in the file OIFwdKinematicsInterface::sceneryFilename.

Returns: true if everything went well.; false if no scenery could be created.

◆ expandFileNodes()

void expandFileNodes ( )

◆ getPath()

bool getPath	(	std::string	name,
		SoPath *&	p,
		SoNode *	r = NULL )

◆ getTranslation()

bool getTranslation	(	SbVec3f &	translation,
		SoPath *	p )

◆ initviewer()

void initviewer ( )

◆ isInitialized()

bool isInitialized ( )

◆ readSceneryFromFile()

bool readSceneryFromFile ( )

protected

This method tries to read the scenegraph from the file OIFwdKinematicsInterface::sceneryFilename and stores it in OIFwdKinematicsInterface::root.

Returns: true if everything went well and the scenegraph could be read.; false if the file couldn't be opened or a problem was encountered while reading the file.

◆ run()

void run ( )

◆ setJointAngle()

bool setJointAngle	(	SoPath *	p,
		float	angle )

◆ update()

void update ( void )

Member Data Documentation

◆ m_fFocalLengthY

float m_fFocalLengthY

◆ m_pCamera

SoPerspectiveCamera* m_pCamera

◆ m_pDavidsRoot

SoSeparator* m_pDavidsRoot

◆ m_pLight

SoDirectionalLight* m_pLight

◆ m_pOffscreenRenderer

SoOffscreenRenderer* m_pOffscreenRenderer

◆ m_pViewportRegion

SbViewportRegion* m_pViewportRegion

◆ root

SoSeparator* root