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24 #include <SimoxUtility/color/Color.h>
25 #include <SimoxUtility/math/pose.h>
26 #include <VirtualRobot/VirtualRobot.h>
59 arrow.
color(colorHighlighted);
60 arrow.
width(width * 1.5f);
67 GuiGraph::ConstVertex vertex,
71 if (p.pose.has_value())
73 draw(layer, vertex.attrib().getName(), p.pose.value(), vertex.attrib());
79 const std::string& name,
83 if (this->pose.has_value())
85 layer.
add(this->pose->draw(name,
pose, attribs));
95 const std::string& sourceName,
96 const std::string& targetName,
104 arrow.
color(colorHighlighted);
105 arrow.
width(width * 1.5f);
112 GuiGraph::ConstEdge edge,
119 if (src.pose.has_value() && tar.pose.has_value() && arrow.has_value())
121 layer.
add(arrow->draw(edge.attrib(),
122 edge.source().attrib().getName(),
123 edge.target().attrib().getName(),
134 if (vertex.has_value())
136 for (GuiGraph::ConstVertex
v : graph.vertices())
138 vertex->draw(layer,
v, info);
141 if (edge.has_value())
143 for (GuiGraph::ConstEdge e : graph.edges())
145 edge->draw(layer, e, info);
viz::Arrow draw(const EdgeData &edge, const std::string &sourceName, const std::string &targetName, const core::Pose &source, const core::Pose &target) const
void draw(viz::Layer &layer, const GuiGraph &graph, graph::visu::ObjectParserInfo info) const
const std::vector< ObjectInfo > & info
std::optional< ForwardArrow > forwardArrow
void resolveLocation(Graph::Vertex &vertex, const aron::data::DictPtr &locationData)
std::string getName() const
Vertex target(const detail::edge_base< Directed, Vertex > &e, const PCG &)
The EdgeData struct holds data required for the edge.
viz::Arrow draw(const std::string &sourceName, const std::string &targetName, const core::Pose &source, const core::Pose &target) const
viz::Pose draw(const std::string &name, const core::Pose &pose, const VertexData &attribs) const
void add(ElementT const &element)
viz::Arrow draw(const std::string &name, const core::Pose &pose) const
float scaleFactorHighlighted
The NodeData struct holds data required for the node.
uint32_t Color
RGBA color.
void draw(viz::Layer &layer, GuiGraph::ConstVertex vertex, graph::visu::ObjectParserInfo info) const
Vertex source(const detail::edge_base< Directed, Vertex > &e, const PCG &)
bool highlighted
Whether the edge is highlighted.
viz::Pose draw(const std::string &name, const core::Pose &pose) const
void draw(viz::Layer &layer, GuiGraph::ConstEdge edge, graph::visu::ObjectParserInfo info) const
std::optional< Pose > pose
double v(double t, double v0, double a0, double j)
viz::Arrow draw(const std::string &name, const core::Pose &pose, const VertexData &attribs) const
const simox::Color defaultColorHighlighted
DerivedT & scale(Eigen::Vector3f scale)
const objpose::ObjectPoseMap & objects
DerivedT & color(Color color)
bool highlighted
Whether the node is highlighted.