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

Inheritance diagram for RobotVisualization:

Public Member Functions
virtual void	addRobotVisualization (VirtualRobot::RobotPtr robot, QString selectedChain)=0
	METHODS FOR VISUALIZATION SETUP. More...

virtual void	addSceneVisualization (VirtualRobot::ScenePtr scene)=0
	addSceneVisualization visualizes the whole scene where the robot is placed in More...

virtual void	addTransitionVisualization (int index, std::vector< PoseBasePtr > transition)=0
	METHODS FOR TRANSITIONS. More...

virtual void	addWaypointVisualization (int index, PoseBasePtr waypoint, VirtualRobot::EndEffectorPtr tcp)=0
	METHODS FOR WAYPOINTS. More...

virtual void	clearTrajectory ()=0
	clearTrajectory removes all visualization of waypoints and transitions but keeps the robot and the maipulator visualized More...

virtual void	disableVisualization ()=0
	disableVisualization hides the viewer More...

virtual void	enableVisualization ()=0
	enableVisualization shows the viewer More...

virtual void	highlightTransitionVisualization (int index, std::vector< PoseBasePtr > transition)=0
	highlightTransitionVisualization highlights the transition with index i by changing the color of all points belonging to that transition More...

virtual void	removeAllWaypointVisualizations ()=0
	removeAllWaypointVisualizations removes all waypoints that are currently visualized More...

virtual void	removeTransitionVisualization (int index)=0
	removeTransitionVisualization removes visualization of a certain transition More...

virtual void	removeWaypointVisualization (int index)=0
	removeWaypointVisualization removes the Waypoint with index so that it is no longer visualized More...

virtual std::shared_ptr< RobotVisualization >	reproduce (QWidget *parent)=0
	reproduce creates a new view with thesame visualization nodes but an independent camera More...

virtual void	setCamera (const Eigen::VectorXf position, const Eigen::VectorXf pointAtA, const Eigen::VectorXf pointAtB)=0
	setCamera sets the camera at a certain position More...

virtual void	setManipulator (VirtualRobot::RobotNodeSetPtr kc, std::vector< float > jointAngles)=0
	SETTING MANIPULATOR. More...

virtual void	setSelectedWaypoint (int index)=0
	removeWaypointVisualization removes the Waypoint with index so that it is no longer visualized More...

virtual void	updateRobotVisualization ()=0
	UPDATING OF VISUALIZATION. More...

Public Member Functions inherited from VisualizationSubject
virtual Eigen::Matrix4f	getManipulatorPose ()=0
	getManipulatorPose More...

virtual int	getSelectedWaypoint ()=0
	getSelectedWaypoint More...

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 More...

Protected Member Functions
virtual AdvancedVisualizationFactoryPtr	createAdvancedVisualizationFactory ()=0

Protected Attributes
VirtualRobot::RobotPtr	robot

VirtualRobot::ScenePtr	scene

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

Detailed Description

Definition at line 38 of file RobotVisualization.h.

Member Function Documentation

◆ addRobotVisualization()

virtual void addRobotVisualization	(	VirtualRobot::RobotPtr	robot,
		QString	selectedChain
	)

pure virtual

METHODS FOR VISUALIZATION SETUP.

addRobotVisualization adds a robot to the robotviewer

Parameters

robot	the robot to be visualized
selectedChain	the standard kinematic chain of the robot to use

Implemented in CoinRobotViewerAdapter.

◆ addSceneVisualization()

virtual void addSceneVisualization ( VirtualRobot::ScenePtr scene )

pure virtual

addSceneVisualization visualizes the whole scene where the robot is placed in

Parameters

scene

Implemented in CoinRobotViewerAdapter.

◆ addTransitionVisualization()

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

pure virtual

METHODS FOR TRANSITIONS.

addTransitionVisualization visualizes a transition that means an array of points in 3d space

Parameters

transition the transition to be visualized

Implemented in CoinRobotViewerAdapter.

◆ addWaypointVisualization()

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

pure virtual

METHODS FOR WAYPOINTS.

addWaypointVisualization visualizes a certain waypoint by putting a visual representaiton of a toolcenterpoint at a predefined pose

Parameters

index	the index of the waypoint to be added
waypoint	Pose that should be realized by the WaypointVisualization
tcp	the Endeffector that should be visualized

Implemented in CoinRobotViewerAdapter.

◆ clearTrajectory()

virtual void clearTrajectory ( )

pure virtual

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

Implemented in CoinRobotViewerAdapter.

◆ createAdvancedVisualizationFactory()

virtual AdvancedVisualizationFactoryPtr createAdvancedVisualizationFactory ( )

protectedpure virtual

Implemented in CoinRobotViewerAdapter.

◆ disableVisualization()

virtual void disableVisualization ( )

pure virtual

disableVisualization hides the viewer

Implemented in CoinRobotViewerAdapter.

◆ enableVisualization()

virtual void enableVisualization ( )

pure virtual

enableVisualization shows the viewer

Implemented in CoinRobotViewerAdapter.

◆ highlightTransitionVisualization()

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

pure virtual

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

Implemented in CoinRobotViewerAdapter.

◆ removeAllWaypointVisualizations()

virtual void removeAllWaypointVisualizations ( )

pure virtual

removeAllWaypointVisualizations removes all waypoints that are currently visualized

Implemented in CoinRobotViewerAdapter.

◆ removeTransitionVisualization()

virtual void removeTransitionVisualization ( int index )

pure virtual

removeTransitionVisualization removes visualization of a certain transition

Parameters

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

Implemented in CoinRobotViewerAdapter.

◆ removeWaypointVisualization()

virtual void removeWaypointVisualization ( int index )

pure virtual

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

Implemented in CoinRobotViewerAdapter.

◆ reproduce()

virtual std::shared_ptr<RobotVisualization> reproduce ( QWidget * parent )

pure virtual

reproduce creates a new view with thesame visualization nodes but an independent camera

Parameters

parent the widget to attach the newly created viewer to

Returns: the reproduced viewer

Implemented in CoinRobotViewerAdapter.

◆ setCamera()

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

pure virtual

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

Implemented in CoinRobotViewerAdapter.

◆ setManipulator()

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

pure virtual

SETTING MANIPULATOR.

setManipulator sets a new endeffector at a predefined pose that is calculated by using forward kinematic on the joint angles

Parameters

kc	the kinematic chain to use the endeffector of as the manipulator
jointAngles	the joint angles of the robot to reach the manipulator

Implemented in CoinRobotViewerAdapter.

◆ setSelectedWaypoint()

virtual void setSelectedWaypoint ( int index )

pure virtual

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

Implemented in CoinRobotViewerAdapter.

◆ updateRobotVisualization()

virtual void updateRobotVisualization ( )

pure virtual

UPDATING OF VISUALIZATION.

updateRobotVisualization refreshes the viewer so it visualizes the new robot state

Implemented in CoinRobotViewerAdapter.

Member Data Documentation

◆ robot

VirtualRobot::RobotPtr robot

protected

Definition at line 161 of file RobotVisualization.h.

◆ scene

VirtualRobot::ScenePtr scene

protected

Definition at line 160 of file RobotVisualization.h.

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

RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Visualization/RobotVisualization.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ addRobotVisualization()

◆ addSceneVisualization()

◆ addTransitionVisualization()

◆ addWaypointVisualization()

◆ clearTrajectory()

◆ createAdvancedVisualizationFactory()

◆ disableVisualization()

◆ enableVisualization()

◆ highlightTransitionVisualization()

◆ removeAllWaypointVisualizations()

◆ removeTransitionVisualization()

◆ removeWaypointVisualization()

◆ reproduce()

◆ setCamera()

◆ setManipulator()

◆ setSelectedWaypoint()

◆ updateRobotVisualization()

Member Data Documentation

◆ robot

◆ scene