The CoinRobotViewerAdapter class. More...

#include <RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Visualization/CoinRobotViewerAdapter.h>

Inheritance diagram for CoinRobotViewerAdapter:

Public Member Functions
void	addRobotVisualization (VirtualRobot::RobotPtr robot, QString selectedChain) override
	METHODS FOR VISUALIZATION SETUP.

void	addSceneVisualization (VirtualRobot::ScenePtr scene) override
	addSceneVisualization visualizes the whole scene where the robot is placed in

void	addTransitionVisualization (int index, std::vector< PoseBasePtr > transition) override
	METHODS FOR TRANSITIONS.

void	addWaypointVisualization (int index, PoseBasePtr waypoint, VirtualRobot::EndEffectorPtr tcp) override
	METHODS FOR WAYPOINTS.

void	clearTrajectory () override
	clearTrajectory removes all visualization of waypoints and transitions but keeps the robot and the maipulator visualized

	CoinRobotViewerAdapter (QWidget *widget)
	CoinRobotViewerAdapter.

void	disableVisualization () override
	disableVisualization hides the viewer

void	enableVisualization () override
	enableVisualization shows the viewer

Eigen::Matrix4f	getManipulatorPose () override
	INHERITED BY OBSERVER.

int	getSelectedWaypoint () override
	getSelectedWaypoint

void	highlightTransitionVisualization (int index, std::vector< PoseBasePtr > transition) override
	highlightTransitionVisualization highlights the transition with index i by changing the color of all points belonging to that transition

void	removeAllWaypointVisualizations () override
	removeAllWaypointVisualizations removes all waypoints that are currently visualized

void	removeTransitionVisualization (int index) override
	removeTransitionVisualization removes visualization of a certain transition

void	removeWaypointVisualization (int index) override
	removeWaypointVisualization removes the Waypoint with index so that it is no longer visualized

RobotVisualizationPtr	reproduce (QWidget *parent) override
	UPDATING OF VISUALIZATION.

void	setCamera (const Eigen::VectorXf position, const Eigen::VectorXf pointAtA, const Eigen::VectorXf pointAtB) override
	setCamera sets the camera at a certain position

void	setManipulator (VirtualRobot::RobotNodeSetPtr kc, std::vector< float > jointAngles) override
	SETTING MANIPULATOR.

void	setSelectedWaypoint (int index) override
	removeWaypointVisualization removes the Waypoint with index so that it is no longer visualized

void	updateRobotVisualization () override
	UPDATING OF VISUALIZATION.

	~CoinRobotViewerAdapter ()

Public Member Functions inherited from VisualizationSubject
void	removeObservers ()

void	setObserver (VisualizationObserverPtr observer)
	setObserver adds a new observer to this subject, everytime the subjet changes the observer should be notified by calling its refresh method

Protected Member Functions
AdvancedVisualizationFactoryPtr	createAdvancedVisualizationFactory () override

Additional Inherited Members
Protected Attributes inherited from RobotVisualization
VirtualRobot::RobotPtr	robot

VirtualRobot::ScenePtr	scene

Protected Attributes inherited from VisualizationSubject
std::weak_ptr< VisualizationObserver >	observer

Detailed Description

The CoinRobotViewerAdapter class.

Constructor & Destructor Documentation

◆ CoinRobotViewerAdapter()

CoinRobotViewerAdapter ( QWidget * widget )

CoinRobotViewerAdapter.

Parameters

widget the parent widget on the gui

◆ ~CoinRobotViewerAdapter()

~CoinRobotViewerAdapter ( )

Member Function Documentation

◆ addRobotVisualization()

void addRobotVisualization	(	VirtualRobot::RobotPtr	robot,
		QString	selectedChain = "" )

overridevirtual

METHODS FOR VISUALIZATION SETUP.

Implements RobotVisualization.

◆ addSceneVisualization()

void addSceneVisualization ( VirtualRobot::ScenePtr scene )

overridevirtual

addSceneVisualization visualizes the whole scene where the robot is placed in

Parameters

scene

Implements RobotVisualization.

◆ addTransitionVisualization()

void addTransitionVisualization	(	int	index,
		std::vector< PoseBasePtr >	transition )

overridevirtual

METHODS FOR TRANSITIONS.

Implements RobotVisualization.

◆ addWaypointVisualization()

void addWaypointVisualization	(	int	index,
		PoseBasePtr	waypoint,
		VirtualRobot::EndEffectorPtr	tcp )

overridevirtual

METHODS FOR WAYPOINTS.

Implements RobotVisualization.

◆ clearTrajectory()

void clearTrajectory ( )

overridevirtual

clearTrajectory removes all visualization of waypoints and transitions but keeps the robot and the maipulator visualized

Implements RobotVisualization.

◆ createAdvancedVisualizationFactory()

AdvancedVisualizationFactoryPtr createAdvancedVisualizationFactory ( )

overrideprotectedvirtual

Implements RobotVisualization.

◆ disableVisualization()

void disableVisualization ( )

overridevirtual

disableVisualization hides the viewer

Implements RobotVisualization.

◆ enableVisualization()

void enableVisualization ( )

overridevirtual

enableVisualization shows the viewer

Implements RobotVisualization.

◆ getManipulatorPose()

Eigen::Matrix4f getManipulatorPose ( )

overridevirtual

INHERITED BY OBSERVER.

Implements VisualizationSubject.

◆ getSelectedWaypoint()

int getSelectedWaypoint ( )

overridevirtual

getSelectedWaypoint

Returns: the waypoint selected in the GUI

Implements VisualizationSubject.

◆ highlightTransitionVisualization()

void highlightTransitionVisualization	(	int	index,
		std::vector< PoseBasePtr >	transition )

overridevirtual

highlightTransitionVisualization highlights the transition with index i by changing the color of all points belonging to that transition

Parameters

index	the index of the transition to be highlighted starting with 0
transition	the transition to be highlighted

Implements RobotVisualization.

◆ removeAllWaypointVisualizations()

void removeAllWaypointVisualizations ( )

overridevirtual

removeAllWaypointVisualizations removes all waypoints that are currently visualized

Implements RobotVisualization.

◆ removeTransitionVisualization()

void removeTransitionVisualization ( int index )

overridevirtual

removeTransitionVisualization removes visualization of a certain transition

Parameters

index the index of the transition to be removed starting with 0

Implements RobotVisualization.

◆ removeWaypointVisualization()

void removeWaypointVisualization ( int index )

overridevirtual

removeWaypointVisualization removes the Waypoint with index so that it is no longer visualized

Parameters

index the index of the waypoint to be removed starting with 0

Implements RobotVisualization.

◆ reproduce()

RobotVisualizationPtr reproduce ( QWidget * parent )

overridevirtual

UPDATING OF VISUALIZATION.

Implements RobotVisualization.

◆ setCamera()

void setCamera	(	const Eigen::VectorXf	position,
		const Eigen::VectorXf	pointAtA,
		const Eigen::VectorXf	pointAtB )

overridevirtual

setCamera sets the camera at a certain position

Parameters

position	the 3D Position of the camera
pointAtA	the highest point the camera points at
pointAtB	the lowest point the camera looks at

Implements RobotVisualization.

◆ setManipulator()

void setManipulator	(	VirtualRobot::RobotNodeSetPtr	kc,
		std::vector< float >	jointAngles )

overridevirtual

SETTING MANIPULATOR.

Implements RobotVisualization.

◆ setSelectedWaypoint()

void setSelectedWaypoint ( int index )

overridevirtual

removeWaypointVisualization removes the Waypoint with index so that it is no longer visualized

Parameters

index the index of the waypoint to be removed starting with 0

Implements RobotVisualization.

◆ updateRobotVisualization()

void updateRobotVisualization ( )

overridevirtual

UPDATING OF VISUALIZATION.

Implements RobotVisualization.

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

RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Visualization/CoinRobotViewerAdapter.h
RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Visualization/CoinRobotViewerAdapter.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CoinRobotViewerAdapter()

◆ ~CoinRobotViewerAdapter()

Member Function Documentation

◆ addRobotVisualization()

◆ addSceneVisualization()

◆ addTransitionVisualization()

◆ addWaypointVisualization()

◆ clearTrajectory()

◆ createAdvancedVisualizationFactory()

◆ disableVisualization()

◆ enableVisualization()

◆ getManipulatorPose()

◆ getSelectedWaypoint()

◆ highlightTransitionVisualization()

◆ removeAllWaypointVisualizations()

◆ removeTransitionVisualization()

◆ removeWaypointVisualization()

◆ reproduce()

◆ setCamera()

◆ setManipulator()

◆ setSelectedWaypoint()

◆ updateRobotVisualization()