#include <RobotAPI/components/DebugDrawer/DebugDrawerComponent.h>

Inheritance diagram for DebugDrawerComponent:

Classes
struct	ArrowData

struct	BoxData

struct	CircleData

struct	Colored24BitPointCloudData

struct	ColoredPointCloudData

struct	CoordData

struct	CylinderData

struct	DrawData

struct	Layer
	Contains data for a layer. More...

struct	LineData

struct	LineSetData

struct	PointCloudData

struct	PolygonData

struct	RobotData

struct	SphereData

struct	TextData

struct	TriMeshData

struct	UpdateData

Public Types
using	RecursiveMutex = std::recursive_mutex

using	RecursiveMutexLock = std::unique_lock<RecursiveMutex>

using	RecursiveMutexLockPtr = std::shared_ptr<RecursiveMutexLock>

using	RecursiveMutexPtr = std::shared_ptr<RecursiveMutex>

Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle<SimplePeriodicTask<std::function<void(void)>>>

Public Member Functions
void	clearAll (const ::Ice::Current &=Ice::emptyCurrent) override

void	clearDebugLayer (const ::Ice::Current &=Ice::emptyCurrent) override

void	clearLayer (const std::string &layerName, const ::Ice::Current &=Ice::emptyCurrent) override

void	clearSelections (const std::string &layerName, const ::Ice::Current &=Ice::emptyCurrent) override

PropertyDefinitionsPtr	createPropertyDefinitions () override

	DebugDrawerComponent ()
	DebugDrawerComponent Constructs a debug drawer.

void	deselect (const std::string &layerName, const std::string &elementName, const ::Ice::Current &=Ice::emptyCurrent) override

void	deselectionCallback ()

void	disableAllLayers (const ::Ice::Current &=Ice::emptyCurrent) override

void	disableSelections (const std::string &layerName, const ::Ice::Current &=Ice::emptyCurrent) override

void	enableAllLayers (const ::Ice::Current &=Ice::emptyCurrent) override

void	enableDebugLayerVisu (bool visible, const ::Ice::Current &=Ice::emptyCurrent) override

void	enableLayerVisu (const std::string &layerName, bool visible, const ::Ice::Current &=Ice::emptyCurrent) override

void	enableSelections (const std::string &layerName, const ::Ice::Current &=Ice::emptyCurrent) override

void	exportLayer (const std::string &filename, const std::string &layerName, const ::Ice::Current &=Ice::emptyCurrent) override

void	exportScene (const std::string &filename, const ::Ice::Current &=Ice::emptyCurrent) override

std::map< std::string, bool >	getAllDefaultLayerVisibilities () const

bool	getDefaultLayerVisibility () const

bool	getDefaultLayerVisibility (const std::string &layerName) const

std::string	getDefaultName () const override
	Retrieve default name of component.

RecursiveMutexLockPtr	getScopedVisuLock ()
	getScopedLock If using the coin visualization it must be ensured that all rendering calls are protected with this mutex

DebugDrawerSelectionList	getSelections (const ::Ice::Current &=Ice::emptyCurrent) override

SoSeparator *	getVisualization ()
	getVisualization Ensure that all access to this node is protected with the scoped lock mutex.

bool	hasLayer (const std::string &layerName, const ::Ice::Current &=Ice::emptyCurrent) override

void	installSelectionCallbacks ()

::armarx::LayerInformationSequence	layerInformation (const ::Ice::Current &=Ice::emptyCurrent) override

::Ice::StringSeq	layerNames (const ::Ice::Current &=Ice::emptyCurrent) override

void	onConnectComponent () override
	Pure virtual hook for the subclass.

void	onDisconnectComponent () override
	Hook for subclass.

void	onExitComponent () override
	Hook for subclass.

void	onInitComponent () override
	Pure virtual hook for the subclass.

void	remove24BitColoredPointCloudDebugLayerVisu (const std::string &pointCloudName, const ::Ice::Current &=Ice::emptyCurrent) override

void	remove24BitColoredPointCloudVisu (const std::string &layerName, const std::string &pointCloudName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeArrowDebugLayerVisu (const std::string &arrowName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeArrowVisu (const std::string &layerName, const std::string &arrowName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeBoxDebugLayerVisu (const std::string &boxName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeBoxVisu (const std::string &layerName, const std::string &boxName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeCircleDebugLayerVisu (const std::string &circleName, const Ice::Current &=Ice::emptyCurrent) override

void	removeCircleVisu (const std::string &layerName, const std::string &circleName, const Ice::Current &=Ice::emptyCurrent) override

void	removeColoredPointCloudDebugLayerVisu (const std::string &pointCloudName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeColoredPointCloudVisu (const std::string &layerName, const std::string &pointCloudName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeCylinderDebugLayerVisu (const std::string &cylinderName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeCylinderVisu (const std::string &layerName, const std::string &cylinderName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeDefaultLayerVisibility (const std::string &layerName)

void	removeLayer (const std::string &layerName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeLineDebugLayerVisu (const std::string &lineName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeLineSetDebugLayerVisu (const std::string &lineSetName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeLineSetVisu (const std::string &layerName, const std::string &lineSetName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeLineVisu (const std::string &layerName, const std::string &lineName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removePointCloudDebugLayerVisu (const std::string &pointCloudName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removePointCloudVisu (const std::string &layerName, const std::string &pointCloudName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removePolygonDebugLayerVisu (const std::string &polygonName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removePolygonVisu (const std::string &layerName, const std::string &polygonName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removePoseDebugLayerVisu (const std::string &poseName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removePoseVisu (const std::string &layerName, const std::string &poseName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeRobotVisu (const std::string &layerName, const std::string &robotName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeSelectionCallbacks ()

void	removeSphereDebugLayerVisu (const std::string &sphereName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeSphereVisu (const std::string &layerName, const std::string &sphereName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeTextDebugLayerVisu (const std::string &textName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeTextVisu (const std::string &layerName, const std::string &textName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeTriMeshDebugLayerVisu (const std::string &triMeshName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeTriMeshVisu (const std::string &layerName, const std::string &triMeshName, const ::Ice::Current &=Ice::emptyCurrent) override

void	reportSelectionChanged (const DebugDrawerSelectionList &selectedElements, const ::Ice::Current &=Ice::emptyCurrent) override

void	select (const std::string &layerName, const std::string &elementName, const ::Ice::Current &=Ice::emptyCurrent) override

void	selectionCallback ()

void	set24BitColoredPointCloudDebugLayerVisu (const std::string &pointCloudName, const DebugDrawer24BitColoredPointCloud &pointCloud, const ::Ice::Current &=Ice::emptyCurrent) override

void	set24BitColoredPointCloudVisu (const std::string &layerName, const std::string &pointCloudName, const DebugDrawer24BitColoredPointCloud &pointCloud, const ::Ice::Current &=Ice::emptyCurrent) override

void	setArrowDebugLayerVisu (const std::string &arrowName, const ::armarx::Vector3BasePtr &position, const ::armarx::Vector3BasePtr &direction, const DrawColor &color, float length, float width, const ::Ice::Current &=Ice::emptyCurrent) override

void	setArrowVisu (const std::string &layerName, const std::string &arrowName, const ::armarx::Vector3BasePtr &position, const ::armarx::Vector3BasePtr &direction, const DrawColor &color, float length, float width, const ::Ice::Current &=Ice::emptyCurrent) override

void	setBoxDebugLayerVisu (const std::string &boxName, const ::armarx::PoseBasePtr &globalPose, const ::armarx::Vector3BasePtr &dimensions, const DrawColor &color, const ::Ice::Current &=Ice::emptyCurrent) override

void	setBoxVisu (const std::string &layerName, const std::string &boxName, const ::armarx::PoseBasePtr &globalPose, const ::armarx::Vector3BasePtr &dimensions, const DrawColor &color, const ::Ice::Current &=Ice::emptyCurrent) override

void	setCircleArrowVisu (const std::string &layerName, const std::string &circleName, const Vector3BasePtr &globalPosition, const Vector3BasePtr &directionVec, Ice::Float radius, Ice::Float circleCompletion, Ice::Float width, const DrawColor &color, const Ice::Current &=Ice::emptyCurrent) override

void	setCircleDebugLayerVisu (const std::string &circleName, const Vector3BasePtr &globalPosition, const Vector3BasePtr &directionVec, Ice::Float radius, Ice::Float circleCompletion, Ice::Float width, const DrawColor &color, const Ice::Current &=Ice::emptyCurrent) override

virtual void	setColoredPointCloudDebugLayerVisu (const std::string &pointCloudName, const DebugDrawerColoredPointCloud &pointCloud, const ::Ice::Current &=Ice::emptyCurrent)

void	setColoredPointCloudVisu (const std::string &layerName, const std::string &pointCloudName, const DebugDrawerColoredPointCloud &pointCloud, const ::Ice::Current &=Ice::emptyCurrent) override

void	setCylinderDebugLayerVisu (const std::string &cylinderName, const ::armarx::Vector3BasePtr &globalPosition, const ::armarx::Vector3BasePtr &direction, float length, float radius, const DrawColor &color, const ::Ice::Current &=Ice::emptyCurrent) override

void	setCylinderVisu (const std::string &layerName, const std::string &cylinderName, const ::armarx::Vector3BasePtr &globalPosition, const ::armarx::Vector3BasePtr &direction, float length, float radius, const DrawColor &color, const ::Ice::Current &=Ice::emptyCurrent) override

void	setDefaultLayerVisibility (bool defaultLayerVisibility)

void	setDefaultLayerVisibility (const std::string &layerName, bool defaultLayerVisibility)

void	setLineDebugLayerVisu (const std::string &lineName, const ::armarx::Vector3BasePtr &globalPosition1, const ::armarx::Vector3BasePtr &globalPosition2, float lineWidth, const ::armarx::DrawColor &color, const ::Ice::Current &=Ice::emptyCurrent) override

void	setLineSetDebugLayerVisu (const std::string &lineSetName, const DebugDrawerLineSet &lineSet, const ::Ice::Current &=Ice::emptyCurrent) override

void	setLineSetVisu (const std::string &layerName, const std::string &lineSetName, const DebugDrawerLineSet &lineSet, const ::Ice::Current &=Ice::emptyCurrent) override

void	setLineVisu (const std::string &layerName, const std::string &lineName, const ::armarx::Vector3BasePtr &globalPosition1, const ::armarx::Vector3BasePtr &globalPosition2, float lineWidth, const ::armarx::DrawColor &color, const ::Ice::Current &=Ice::emptyCurrent) override

void	setMutex (RecursiveMutexPtr const &m)

void	setPointCloudDebugLayerVisu (const std::string &pointCloudName, const DebugDrawerPointCloud &pointCloud, const ::Ice::Current &=Ice::emptyCurrent) override

void	setPointCloudVisu (const std::string &layerName, const std::string &pointCloudName, const DebugDrawerPointCloud &pointCloud, const ::Ice::Current &=Ice::emptyCurrent) override

void	setPolygonDebugLayerVisu (const std::string &polygonName, const std::vector<::armarx::Vector3BasePtr > &polygonPoints, const DrawColor &colorInner, const DrawColor &colorBorder, float lineWidth, const ::Ice::Current &=Ice::emptyCurrent) override

void	setPolygonVisu (const std::string &layerName, const std::string &polygonName, const std::vector<::armarx::Vector3BasePtr > &polygonPoints, const DrawColor &colorInner, const DrawColor &colorBorder, float lineWidth, const ::Ice::Current &=Ice::emptyCurrent) override

void	setPoseDebugLayerVisu (const std::string &poseName, const ::armarx::PoseBasePtr &globalPose, const ::Ice::Current &=Ice::emptyCurrent) override

void	setPoseVisu (const std::string &layerName, const std::string &poseName, const ::armarx::PoseBasePtr &globalPose, const ::Ice::Current &=Ice::emptyCurrent) override

void	setRobotVisu (const std::string &layerName, const std::string &robotName, const std::string &robotFile, const std::string &armarxProject, DrawStyle drawStyle, const ::Ice::Current &=Ice::emptyCurrent) override
	setRobotVisu Initializes a robot visualization

void	setScaledPoseDebugLayerVisu (const std::string &poseName, const ::armarx::PoseBasePtr &globalPose, const ::Ice::Float scale, const ::Ice::Current &=Ice::emptyCurrent) override

void	setScaledPoseVisu (const std::string &layerName, const std::string &poseName, const ::armarx::PoseBasePtr &globalPose, const ::Ice::Float scale, const ::Ice::Current &=Ice::emptyCurrent) override

void	setSphereDebugLayerVisu (const std::string &sphereName, const ::armarx::Vector3BasePtr &globalPosition, const DrawColor &color, float radius, const ::Ice::Current &=Ice::emptyCurrent) override

void	setSphereVisu (const std::string &layerName, const std::string &sphereName, const ::armarx::Vector3BasePtr &globalPosition, const DrawColor &color, float radius, const ::Ice::Current &=Ice::emptyCurrent) override

void	setTextDebugLayerVisu (const std::string &textName, const std::string &text, const ::armarx::Vector3BasePtr &globalPosition, const DrawColor &color, int size, const ::Ice::Current &=Ice::emptyCurrent) override

void	setTextVisu (const std::string &layerName, const std::string &textName, const std::string &text, const ::armarx::Vector3BasePtr &globalPosition, const DrawColor &color, int size, const ::Ice::Current &=Ice::emptyCurrent) override

void	setTriMeshDebugLayerVisu (const std::string &triMeshName, const DebugDrawerTriMesh &triMesh, const ::Ice::Current &=Ice::emptyCurrent) override

void	setTriMeshVisu (const std::string &layerName, const std::string &triMeshName, const DebugDrawerTriMesh &triMesh, const ::Ice::Current &=Ice::emptyCurrent) override

void	setVisuUpdateTime (float visuUpdatesPerSec)
	setVisuUpdateTime Specifies how often the accumulated draw commands should be applied to the visualization (default 30). Has to be called before init.

void	updateRobotColor (const std::string &layerName, const std::string &robotName, const armarx::DrawColor &c, const ::Ice::Current &=Ice::emptyCurrent) override
	updateRobotColor Colorizes the robot visualization

void	updateRobotConfig (const std::string &layerName, const std::string &robotName, const std::map< std::string, float > &configuration, const ::Ice::Current &=Ice::emptyCurrent) override

void	updateRobotNodeColor (const std::string &layerName, const std::string &robotName, const std::string &robotNodeName, const armarx::DrawColor &c, const ::Ice::Current &=Ice::emptyCurrent) override

void	updateRobotPose (const std::string &layerName, const std::string &robotName, const ::armarx::PoseBasePtr &globalPose, const ::Ice::Current &=Ice::emptyCurrent) override

	~DebugDrawerComponent () override

Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties.

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name) const

template<class T>
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T>
void	getProperty (T &val, const std::string &name) const

template<class ProxyType>
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property.

template<class ProxyType>
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType>
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property.

template<class TopicProxyType>
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component.

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property.

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property.

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property.

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer)

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name.

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components.

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies)

IceManagerPtr	getIceManager () const
	Returns the IceManager.

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object.

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter.

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler

template<class ProxyTarg, class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)

template<class ProxyType>
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object.

template<class ProxyTarg, class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)

template<class ProxyTarg, class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&... args)

template<class ProxyTarg, class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&... args)
	Assigns a proxy to `proxy`.

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy)

template<class Prx>
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType>
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload).

template<class Prx>
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject.

template<class TopicProxyType>
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic.

template<class TopicProxyType>
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`.

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization.

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager.

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic.

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list.

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization.

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies.

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds.

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set.

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties.

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval.

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods.

template<class T>
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T>
void	getProperty (T &val, const std::string &name) const

template<class T>
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

template<class ContainerT>
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container.

std::vector< std::string >	getSubscribedTopicNames ()

std::vector< std::string >	getTopicProxyNames ()

bool	hasProperty (const std::string &name)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties.

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Protected Member Functions
void	clearLayerQt (const std::string &layerName)

void	draw24BitColoredPointCloud (const Colored24BitPointCloudData &d)

void	drawArrow (const ArrowData &d)

void	drawBox (const BoxData &d)

void	drawCircle (const DebugDrawerComponent::CircleData &d)

void	drawColoredPointCloud (const ColoredPointCloudData &d)

void	drawCoordSystem (const CoordData &d)

void	drawCylinder (const CylinderData &d)

void	drawLine (const LineData &d)

void	drawLineSet (const LineSetData &d)

void	drawPointCloud (const PointCloudData &d)

void	drawPolygon (const PolygonData &d)

void	drawRobot (const RobotData &d)

void	drawSphere (const SphereData &d)

void	drawText (const TextData &d)

void	drawTriMesh (const TriMeshData &d)

void	ensureExistingRobotNodes (DebugDrawerComponent::RobotData &d)
	ensureExistingRobotNodes Checks if all robotnodes of configuration exist in robot. If not the specific configuration entry is removed from the list.

RecursiveMutexLockPtr	getScopedAccumulatedDataLock ()

virtual void	onRemoveAccumulatedData (const std::string &layerName)

virtual void	onUpdateVisualization ()
	onUpdateVisualization derived methods can overwrite this method to update custom visualizations.

void	remove24BitColoredPointCloud (const std::string &layerName, const std::string &name)

void	removeAccumulatedData (const std::string &layerName)

void	removeArrow (const std::string &layerName, const std::string &name)

void	removeBox (const std::string &layerName, const std::string &name)

void	removeCircle (const std::string &layerName, const std::string &name)

void	removeColoredPointCloud (const std::string &layerName, const std::string &name)

void	removeCoordSystem (const std::string &layerName, const std::string &name)

virtual void	removeCustomVisu (const std::string &layerName, const std::string &name)

void	removeCylinder (const std::string &layerName, const std::string &name)

void	removeLayerQt (const std::string &layerName)

void	removeLine (const std::string &layerName, const std::string &name)

void	removeLineSet (const std::string &layerName, const std::string &name)

void	removePointCloud (const std::string &layerName, const std::string &name)

void	removePolygon (const std::string &layerName, const std::string &name)

void	removeRobot (const std::string &layerName, const std::string &name)

void	removeSphere (const std::string &layerName, const std::string &name)

void	removeText (const std::string &layerName, const std::string &name)

void	removeTriMesh (const std::string &layerName, const std::string &name)

Layer &	requestLayer (const std::string &layerName)
	If a layer with layerName exists it is returned. Otherwise a new layer with given name is created and returned.

VirtualRobot::RobotPtr	requestRobot (const RobotData &d)

void	setLayerVisibility (const std::string &layerName, bool visible)

void	updateVisualization ()

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text.

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead.

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor.

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor.

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor.

virtual void	icePropertiesInitialized ()

Protected Member Functions inherited from ManagedIceObject
template<class PluginT, class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&... params)

template<class PluginT, class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&... params)

template<class PluginT, class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&... params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor.

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object.

void	setName (std::string name)
	Override name of well-known object.

void	terminate ()
	Initiates termination of this IceManagedObject.

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender.

LogSenderPtr	loghelper (const char file, int line, const char function) const

Static Protected Member Functions
static void	updateVisualizationCB (void data, SoSensor sensor)

Protected Attributes
UpdateData	accumulatedUpdateData

std::map< std::string, VirtualRobot::RobotPtr >	activeRobots

SoSeparator *	coinVisu

float	cycleTimeMS

RecursiveMutexPtr	dataUpdateMutex
	The data update mutex.

bool	defaultLayerVisibility

std::map< std::string, bool >	defaultLayerVisibilityPerLayer

SoSeparator *	layerMainNode
	Main node for all layers.

std::map< const std::string, Layer >	layers
	All existing layers.

DebugDrawerListenerPrx	listenerPrx

std::map< std::string, VirtualRobot::RobotPtr >	loadedRobots

RecursiveMutexPtr	mutex
	The coin mutex.

std::set< std::string >	selectableLayers

SoSelection *	selectionNode

SoTimerSensor *	timerSensor

std::mutex	timerSensorMutex

RecursiveMutexPtr	topicMutex

bool	verbose

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Static Protected Attributes
static std::recursive_mutex	selectionMutex

Additional Inherited Members
Static Public Member Functions inherited from Component
template<class T, class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component.

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name.

static std::string	GetObjectStateAsString (int state)

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required.

Detailed Description

The DebugDrawerComponent class.

Member Typedef Documentation

◆ RecursiveMutex

using RecursiveMutex = std::recursive_mutex

◆ RecursiveMutexLock

using RecursiveMutexLock = std::unique_lock<RecursiveMutex>

◆ RecursiveMutexLockPtr

using RecursiveMutexLockPtr = std::shared_ptr<RecursiveMutexLock>

◆ RecursiveMutexPtr

using RecursiveMutexPtr = std::shared_ptr<RecursiveMutex>

Constructor & Destructor Documentation

◆ DebugDrawerComponent()

DebugDrawerComponent ( )

DebugDrawerComponent Constructs a debug drawer.

◆ ~DebugDrawerComponent()

~DebugDrawerComponent ( )

override

Member Function Documentation

◆ clearAll()

void clearAll ( const ::Ice::Current & = Ice::emptyCurrent )

override

◆ clearDebugLayer()

void clearDebugLayer ( const ::Ice::Current & = Ice::emptyCurrent )

override

◆ clearLayer()

void clearLayer	(	const std::string &	layerName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ clearLayerQt()

void clearLayerQt ( const std::string & layerName )

protected

QT safe version, should not be called from an ICE thread

◆ clearSelections()

void clearSelections	(	const std::string &	layerName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

inlineoverridevirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Reimplemented in EntityDrawerComponent.

◆ deselect()

void deselect	(	const std::string &	layerName,
		const std::string &	elementName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ deselectionCallback()

void deselectionCallback ( )

◆ disableAllLayers()

void disableAllLayers ( const ::Ice::Current & = Ice::emptyCurrent )

override

◆ disableSelections()

void disableSelections	(	const std::string &	layerName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ draw24BitColoredPointCloud()

void draw24BitColoredPointCloud ( const Colored24BitPointCloudData & d )

protected

◆ drawArrow()

void drawArrow ( const ArrowData & d )

protected

◆ drawBox()

void drawBox ( const BoxData & d )

protected

◆ drawCircle()

void drawCircle ( const DebugDrawerComponent::CircleData & d )

protected

◆ drawColoredPointCloud()

void drawColoredPointCloud ( const ColoredPointCloudData & d )

protected

◆ drawCoordSystem()

void drawCoordSystem ( const CoordData & d )

protected

◆ drawCylinder()

void drawCylinder ( const CylinderData & d )

protected

◆ drawLine()

void drawLine ( const LineData & d )

protected

◆ drawLineSet()

void drawLineSet ( const LineSetData & d )

protected

◆ drawPointCloud()

void drawPointCloud ( const PointCloudData & d )

protected

◆ drawPolygon()

void drawPolygon ( const PolygonData & d )

protected

◆ drawRobot()

void drawRobot ( const RobotData & d )

protected

◆ drawSphere()

void drawSphere ( const SphereData & d )

protected

◆ drawText()

void drawText ( const TextData & d )

protected

◆ drawTriMesh()

void drawTriMesh ( const TriMeshData & d )

protected

◆ enableAllLayers()

void enableAllLayers ( const ::Ice::Current & = Ice::emptyCurrent )

override

◆ enableDebugLayerVisu()

void enableDebugLayerVisu	(	bool	visible,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ enableLayerVisu()

void enableLayerVisu	(	const std::string &	layerName,
		bool	visible,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ enableSelections()

void enableSelections	(	const std::string &	layerName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ ensureExistingRobotNodes()

void ensureExistingRobotNodes ( DebugDrawerComponent::RobotData & d )

protected

ensureExistingRobotNodes Checks if all robotnodes of configuration exist in robot. If not the specific configuration entry is removed from the list.

Parameters

d

◆ exportLayer()

void exportLayer	(	const std::string &	filename,
		const std::string &	layerName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ exportScene()

void exportScene	(	const std::string &	filename,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ getAllDefaultLayerVisibilities()

std::map< std::string, bool > getAllDefaultLayerVisibilities ( ) const

inline

◆ getDefaultLayerVisibility() [1/2]

bool getDefaultLayerVisibility ( ) const

inline

◆ getDefaultLayerVisibility() [2/2]

bool getDefaultLayerVisibility ( const std::string & layerName ) const

inline

◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

Retrieve default name of component.

Implement this method in each IceManagedObject. The default name of a is used if no name is specified in the factory method.

Returns: default name of the component (e.g. "KinematicUnit")

Implements ManagedIceObject.

Reimplemented in EntityDrawerComponent.

◆ getScopedAccumulatedDataLock()

auto getScopedAccumulatedDataLock ( )

protected

◆ getScopedVisuLock()

auto getScopedVisuLock ( )

getScopedLock If using the coin visualization it must be ensured that all rendering calls are protected with this mutex

Returns: The lock that is automatically destructed when leaving the current scope.

◆ getSelections()

DebugDrawerSelectionList getSelections ( const ::Ice::Current & = Ice::emptyCurrent )

override

◆ getVisualization()

SoSeparator * getVisualization ( )

getVisualization Ensure that all access to this node is protected with the scoped lock mutex.

Returns: The visualization

◆ hasLayer()

bool hasLayer	(	const std::string &	layerName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ installSelectionCallbacks()

void installSelectionCallbacks ( )

◆ layerInformation()

armarx::LayerInformationSequence layerInformation ( const ::Ice::Current & = Ice::emptyCurrent )

override

◆ layerNames()

Ice::StringSeq layerNames ( const ::Ice::Current & = Ice::emptyCurrent )

override

◆ onConnectComponent()

void onConnectComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once all dependencies of the object have been resolved and Ice connection is established. This hook is called whenever the dependencies are found. That means if the a depedency crashes or shuts down, the ManagedIceObject goes into disconnected state. When the dependencies are found again, this hook is called again.

See also: onDisconnectComponent()

Implements ManagedIceObject.

Reimplemented in EntityDrawerComponent.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

overridevirtual

Hook for subclass.

Is called if a dependency of the object got lost (crash, network error, stopped, ...). This hook should be the inverse to onConnectComponent(). So that onDisconnectComponent() and onConnectComponent() can be called alternatingly and the ManagedIceObject remains in valid states. *

See also: onConnectComponent

Reimplemented from ManagedIceObject.

Reimplemented in EntityDrawerComponent.

◆ onExitComponent()

void onExitComponent ( )

overridevirtual

Hook for subclass.

Is called once the component terminates. Use for cleanup. Only called once.

Reimplemented from ManagedIceObject.

Reimplemented in EntityDrawerComponent.

◆ onInitComponent()

void onInitComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once initialization of the ManagedIceObject is done. This hook is called in the implenting class once and never again during the lifecyle of the object. This function is called as soon as the ManagedIceObject was added to the ArmarXManager. Called in an own thread and not the thread it was created in.

Implements ManagedIceObject.

Reimplemented in EntityDrawerComponent.

◆ onRemoveAccumulatedData()

virtual void onRemoveAccumulatedData ( const std::string & layerName )

inlineprotectedvirtual

Reimplemented in EntityDrawerComponent.

◆ onUpdateVisualization()

virtual void onUpdateVisualization ( )

inlineprotectedvirtual

onUpdateVisualization derived methods can overwrite this method to update custom visualizations.

Reimplemented in EntityDrawerComponent.

◆ remove24BitColoredPointCloud()

void remove24BitColoredPointCloud	(	const std::string &	layerName,
		const std::string &	name )

protected

◆ remove24BitColoredPointCloudDebugLayerVisu()

void remove24BitColoredPointCloudDebugLayerVisu	(	const std::string &	pointCloudName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ remove24BitColoredPointCloudVisu()

void remove24BitColoredPointCloudVisu	(	const std::string &	layerName,
		const std::string &	pointCloudName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeAccumulatedData()

void removeAccumulatedData ( const std::string & layerName )

protected

◆ removeArrow()

void removeArrow	(	const std::string &	layerName,
		const std::string &	name )

protected

◆ removeArrowDebugLayerVisu()

void removeArrowDebugLayerVisu	(	const std::string &	arrowName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeArrowVisu()

void removeArrowVisu	(	const std::string &	layerName,
		const std::string &	arrowName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeBox()

void removeBox	(	const std::string &	layerName,
		const std::string &	name )

protected

◆ removeBoxDebugLayerVisu()

void removeBoxDebugLayerVisu	(	const std::string &	boxName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeBoxVisu()

void removeBoxVisu	(	const std::string &	layerName,
		const std::string &	boxName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeCircle()

void removeCircle	(	const std::string &	layerName,
		const std::string &	name )

protected

◆ removeCircleDebugLayerVisu()

void removeCircleDebugLayerVisu	(	const std::string &	circleName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ removeCircleVisu()

void removeCircleVisu	(	const std::string &	layerName,
		const std::string &	circleName,
		const Ice::Current &	= Ice::emptyCurrent )

override

◆ removeColoredPointCloud()

void removeColoredPointCloud	(	const std::string &	layerName,
		const std::string &	name )

protected

◆ removeColoredPointCloudDebugLayerVisu()

void removeColoredPointCloudDebugLayerVisu	(	const std::string &	pointCloudName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeColoredPointCloudVisu()

void removeColoredPointCloudVisu	(	const std::string &	layerName,
		const std::string &	pointCloudName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeCoordSystem()

void removeCoordSystem	(	const std::string &	layerName,
		const std::string &	name )

protected

◆ removeCustomVisu()

virtual void removeCustomVisu	(	const std::string &	layerName,
		const std::string &	name )

inlineprotectedvirtual

Reimplemented in EntityDrawerComponent.

◆ removeCylinder()

void removeCylinder	(	const std::string &	layerName,
		const std::string &	name )

protected

◆ removeCylinderDebugLayerVisu()

void removeCylinderDebugLayerVisu	(	const std::string &	cylinderName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeCylinderVisu()

void removeCylinderVisu	(	const std::string &	layerName,
		const std::string &	cylinderName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeDefaultLayerVisibility()

void removeDefaultLayerVisibility ( const std::string & layerName )

inline

◆ removeLayer()

void removeLayer	(	const std::string &	layerName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeLayerQt()

void removeLayerQt ( const std::string & layerName )

protected

◆ removeLine()

void removeLine	(	const std::string &	layerName,
		const std::string &	name )

protected

◆ removeLineDebugLayerVisu()

void removeLineDebugLayerVisu	(	const std::string &	lineName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeLineSet()

void removeLineSet	(	const std::string &	layerName,
		const std::string &	name )

protected

◆ removeLineSetDebugLayerVisu()

void removeLineSetDebugLayerVisu	(	const std::string &	lineSetName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeLineSetVisu()

void removeLineSetVisu	(	const std::string &	layerName,
		const std::string &	lineSetName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeLineVisu()

void removeLineVisu	(	const std::string &	layerName,
		const std::string &	lineName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removePointCloud()

void removePointCloud	(	const std::string &	layerName,
		const std::string &	name )

protected

◆ removePointCloudDebugLayerVisu()

void removePointCloudDebugLayerVisu	(	const std::string &	pointCloudName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removePointCloudVisu()

void removePointCloudVisu	(	const std::string &	layerName,
		const std::string &	pointCloudName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removePolygon()

void removePolygon	(	const std::string &	layerName,
		const std::string &	name )

protected

◆ removePolygonDebugLayerVisu()

void removePolygonDebugLayerVisu	(	const std::string &	polygonName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removePolygonVisu()

void removePolygonVisu	(	const std::string &	layerName,
		const std::string &	polygonName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removePoseDebugLayerVisu()

void removePoseDebugLayerVisu	(	const std::string &	poseName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removePoseVisu()

void removePoseVisu	(	const std::string &	layerName,
		const std::string &	poseName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeRobot()

void removeRobot	(	const std::string &	layerName,
		const std::string &	name )

protected

◆ removeRobotVisu()

void removeRobotVisu	(	const std::string &	layerName,
		const std::string &	robotName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeSelectionCallbacks()

void removeSelectionCallbacks ( )

◆ removeSphere()

void removeSphere	(	const std::string &	layerName,
		const std::string &	name )

protected

◆ removeSphereDebugLayerVisu()

void removeSphereDebugLayerVisu	(	const std::string &	sphereName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeSphereVisu()

void removeSphereVisu	(	const std::string &	layerName,
		const std::string &	sphereName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeText()

void removeText	(	const std::string &	layerName,
		const std::string &	name )

protected

◆ removeTextDebugLayerVisu()

void removeTextDebugLayerVisu	(	const std::string &	textName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeTextVisu()

void removeTextVisu	(	const std::string &	layerName,
		const std::string &	textName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeTriMesh()

void removeTriMesh	(	const std::string &	layerName,
		const std::string &	name )

protected

◆ removeTriMeshDebugLayerVisu()

void removeTriMeshDebugLayerVisu	(	const std::string &	triMeshName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ removeTriMeshVisu()

void removeTriMeshVisu	(	const std::string &	layerName,
		const std::string &	triMeshName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ reportSelectionChanged()

void reportSelectionChanged	(	const DebugDrawerSelectionList &	selectedElements,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ requestLayer()

DebugDrawerComponent::Layer & requestLayer ( const std::string & layerName )

protected

If a layer with layerName exists it is returned. Otherwise a new layer with given name is created and returned.

Parameters

layerName The layer.

Returns: The requested layer.

◆ requestRobot()

VirtualRobot::RobotPtr requestRobot ( const RobotData & d )

protected

◆ select()

void select	(	const std::string &	layerName,
		const std::string &	elementName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ selectionCallback()

void selectionCallback ( )

◆ set24BitColoredPointCloudDebugLayerVisu()

void set24BitColoredPointCloudDebugLayerVisu	(	const std::string &	pointCloudName,
		const DebugDrawer24BitColoredPointCloud &	pointCloud,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ set24BitColoredPointCloudVisu()

void set24BitColoredPointCloudVisu	(	const std::string &	layerName,
		const std::string &	pointCloudName,
		const DebugDrawer24BitColoredPointCloud &	pointCloud,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setArrowDebugLayerVisu()

void setArrowDebugLayerVisu	(	const std::string &	arrowName,
		const ::armarx::Vector3BasePtr &	position,
		const ::armarx::Vector3BasePtr &	direction,
		const DrawColor &	color,
		float	length,
		float	width,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setArrowVisu()

void setArrowVisu	(	const std::string &	layerName,
		const std::string &	arrowName,
		const ::armarx::Vector3BasePtr &	position,
		const ::armarx::Vector3BasePtr &	direction,
		const DrawColor &	color,
		float	length,
		float	width,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setBoxDebugLayerVisu()

void setBoxDebugLayerVisu	(	const std::string &	boxName,
		const ::armarx::PoseBasePtr &	globalPose,
		const ::armarx::Vector3BasePtr &	dimensions,
		const DrawColor &	color,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setBoxVisu()

void setBoxVisu	(	const std::string &	layerName,
		const std::string &	boxName,
		const ::armarx::PoseBasePtr &	globalPose,
		const ::armarx::Vector3BasePtr &	dimensions,
		const DrawColor &	color,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setCircleArrowVisu()

void setCircleArrowVisu	(	const std::string &	layerName,
		const std::string &	circleName,
		const Vector3BasePtr &	globalPosition,
		const Vector3BasePtr &	directionVec,
		Ice::Float	radius,
		Ice::Float	circleCompletion,
		Ice::Float	width,
		const DrawColor &	color,
		const Ice::Current &	= Ice::emptyCurrent )

override

◆ setCircleDebugLayerVisu()

void setCircleDebugLayerVisu	(	const std::string &	circleName,
		const Vector3BasePtr &	globalPosition,
		const Vector3BasePtr &	directionVec,
		Ice::Float	radius,
		Ice::Float	circleCompletion,
		Ice::Float	width,
		const DrawColor &	color,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ setColoredPointCloudDebugLayerVisu()

void setColoredPointCloudDebugLayerVisu	(	const std::string &	pointCloudName,
		const DebugDrawerColoredPointCloud &	pointCloud,
		const ::Ice::Current &	= Ice::emptyCurrent )

virtual

◆ setColoredPointCloudVisu()

void setColoredPointCloudVisu	(	const std::string &	layerName,
		const std::string &	pointCloudName,
		const DebugDrawerColoredPointCloud &	pointCloud,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setCylinderDebugLayerVisu()

void setCylinderDebugLayerVisu	(	const std::string &	cylinderName,
		const ::armarx::Vector3BasePtr &	globalPosition,
		const ::armarx::Vector3BasePtr &	direction,
		float	length,
		float	radius,
		const DrawColor &	color,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setCylinderVisu()

void setCylinderVisu	(	const std::string &	layerName,
		const std::string &	cylinderName,
		const ::armarx::Vector3BasePtr &	globalPosition,
		const ::armarx::Vector3BasePtr &	direction,
		float	length,
		float	radius,
		const DrawColor &	color,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setDefaultLayerVisibility() [1/2]

void setDefaultLayerVisibility ( bool defaultLayerVisibility )

inline

◆ setDefaultLayerVisibility() [2/2]

void setDefaultLayerVisibility	(	const std::string &	layerName,
		bool	defaultLayerVisibility )

inline

◆ setLayerVisibility()

void setLayerVisibility	(	const std::string &	layerName,
		bool	visible )

protected

◆ setLineDebugLayerVisu()

void setLineDebugLayerVisu	(	const std::string &	lineName,
		const ::armarx::Vector3BasePtr &	globalPosition1,
		const ::armarx::Vector3BasePtr &	globalPosition2,
		float	lineWidth,
		const ::armarx::DrawColor &	color,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setLineSetDebugLayerVisu()

void setLineSetDebugLayerVisu	(	const std::string &	lineSetName,
		const DebugDrawerLineSet &	lineSet,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setLineSetVisu()

void setLineSetVisu	(	const std::string &	layerName,
		const std::string &	lineSetName,
		const DebugDrawerLineSet &	lineSet,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setLineVisu()

void setLineVisu	(	const std::string &	layerName,
		const std::string &	lineName,
		const ::armarx::Vector3BasePtr &	globalPosition1,
		const ::armarx::Vector3BasePtr &	globalPosition2,
		float	lineWidth,
		const ::armarx::DrawColor &	color,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setMutex()

void setMutex ( RecursiveMutexPtr const & m )

◆ setPointCloudDebugLayerVisu()

void setPointCloudDebugLayerVisu	(	const std::string &	pointCloudName,
		const DebugDrawerPointCloud &	pointCloud,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setPointCloudVisu()

void setPointCloudVisu	(	const std::string &	layerName,
		const std::string &	pointCloudName,
		const DebugDrawerPointCloud &	pointCloud,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setPolygonDebugLayerVisu()

void setPolygonDebugLayerVisu	(	const std::string &	polygonName,
		const std::vector<::armarx::Vector3BasePtr > &	polygonPoints,
		const DrawColor &	colorInner,
		const DrawColor &	colorBorder,
		float	lineWidth,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setPolygonVisu()

void setPolygonVisu	(	const std::string &	layerName,
		const std::string &	polygonName,
		const std::vector<::armarx::Vector3BasePtr > &	polygonPoints,
		const DrawColor &	colorInner,
		const DrawColor &	colorBorder,
		float	lineWidth,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setPoseDebugLayerVisu()

void setPoseDebugLayerVisu	(	const std::string &	poseName,
		const ::armarx::PoseBasePtr &	globalPose,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setPoseVisu()

void setPoseVisu	(	const std::string &	layerName,
		const std::string &	poseName,
		const ::armarx::PoseBasePtr &	globalPose,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setRobotVisu()

void setRobotVisu	(	const std::string &	layerName,
		const std::string &	robotName,
		const std::string &	robotFile,
		const std::string &	armarxProject,
		DrawStyle	drawStyle,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

setRobotVisu Initializes a robot visualization

Parameters

layerName	The layer
robotName	The identifier of the robot
robotFile	The filename of the robot. The robot must be locally present in a project.
DrawStyle	Either FullModel ior CollisionModel.
armarxProject	Additional armarx project that should be used to search the robot. Must be locally available and accessible through the armarx cmake search procedure.

◆ setScaledPoseDebugLayerVisu()

void setScaledPoseDebugLayerVisu	(	const std::string &	poseName,
		const ::armarx::PoseBasePtr &	globalPose,
		const ::Ice::Float	scale,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setScaledPoseVisu()

void setScaledPoseVisu	(	const std::string &	layerName,
		const std::string &	poseName,
		const ::armarx::PoseBasePtr &	globalPose,
		const ::Ice::Float	scale,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setSphereDebugLayerVisu()

void setSphereDebugLayerVisu	(	const std::string &	sphereName,
		const ::armarx::Vector3BasePtr &	globalPosition,
		const DrawColor &	color,
		float	radius,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setSphereVisu()

void setSphereVisu	(	const std::string &	layerName,
		const std::string &	sphereName,
		const ::armarx::Vector3BasePtr &	globalPosition,
		const DrawColor &	color,
		float	radius,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setTextDebugLayerVisu()

void setTextDebugLayerVisu	(	const std::string &	textName,
		const std::string &	text,
		const ::armarx::Vector3BasePtr &	globalPosition,
		const DrawColor &	color,
		int	size,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setTextVisu()

void setTextVisu	(	const std::string &	layerName,
		const std::string &	textName,
		const std::string &	text,
		const ::armarx::Vector3BasePtr &	globalPosition,
		const DrawColor &	color,
		int	size,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setTriMeshDebugLayerVisu()

void setTriMeshDebugLayerVisu	(	const std::string &	triMeshName,
		const DebugDrawerTriMesh &	triMesh,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setTriMeshVisu()

void setTriMeshVisu	(	const std::string &	layerName,
		const std::string &	triMeshName,
		const DebugDrawerTriMesh &	triMesh,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setVisuUpdateTime()

void setVisuUpdateTime ( float visuUpdatesPerSec )

setVisuUpdateTime Specifies how often the accumulated draw commands should be applied to the visualization (default 30). Has to be called before init.

Parameters

visuUpdatesPerSec All topic requests are collected asynchronously. This parameter specifies how often the rendering should be updated according to the accumulated updates.

◆ updateRobotColor()

void updateRobotColor	(	const std::string &	layerName,
		const std::string &	robotName,
		const armarx::DrawColor &	c,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

updateRobotColor Colorizes the robot visualization

Parameters

layerName	The layer
robotName	The robot identifyer
c	The draw color, if all is set to 0, the colorization is disabled (i.e. the original vizaulization shows up)

◆ updateRobotConfig()

void updateRobotConfig	(	const std::string &	layerName,
		const std::string &	robotName,
		const std::map< std::string, float > &	configuration,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ updateRobotNodeColor()

void updateRobotNodeColor	(	const std::string &	layerName,
		const std::string &	robotName,
		const std::string &	robotNodeName,
		const armarx::DrawColor &	c,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ updateRobotPose()

void updateRobotPose	(	const std::string &	layerName,
		const std::string &	robotName,
		const ::armarx::PoseBasePtr &	globalPose,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ updateVisualization()

void updateVisualization ( )

protected

◆ updateVisualizationCB()

void updateVisualizationCB	(	void *	data,
		SoSensor *	sensor )

staticprotected

Member Data Documentation

◆ accumulatedUpdateData

UpdateData accumulatedUpdateData

protected

◆ activeRobots

std::map<std::string, VirtualRobot::RobotPtr> activeRobots

protected

◆ coinVisu

SoSeparator* coinVisu

protected

◆ cycleTimeMS

float cycleTimeMS

protected

◆ dataUpdateMutex

RecursiveMutexPtr dataUpdateMutex

protected

The data update mutex.

◆ defaultLayerVisibility

bool defaultLayerVisibility

protected

◆ defaultLayerVisibilityPerLayer

std::map<std::string, bool> defaultLayerVisibilityPerLayer

protected

◆ layerMainNode

SoSeparator* layerMainNode

protected

Main node for all layers.

◆ layers

std::map<const std::string, Layer> layers

protected

All existing layers.

◆ listenerPrx

DebugDrawerListenerPrx listenerPrx

protected

◆ loadedRobots

std::map<std::string, VirtualRobot::RobotPtr> loadedRobots

protected

◆ mutex

RecursiveMutexPtr mutex

protected

The coin mutex.

◆ selectableLayers

std::set<std::string> selectableLayers

protected

◆ selectionMutex

std::recursive_mutex selectionMutex

staticprotected

◆ selectionNode

SoSelection* selectionNode

protected

◆ timerSensor

SoTimerSensor* timerSensor

protected

◆ timerSensorMutex

std::mutex timerSensorMutex

protected

◆ topicMutex

RecursiveMutexPtr topicMutex

protected

◆ verbose

bool verbose

protected

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

RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ RecursiveMutex

◆ RecursiveMutexLock

◆ RecursiveMutexLockPtr

◆ RecursiveMutexPtr

Constructor & Destructor Documentation

◆ DebugDrawerComponent()

◆ ~DebugDrawerComponent()

Member Function Documentation

◆ clearAll()

◆ clearDebugLayer()

◆ clearLayer()

◆ clearLayerQt()

◆ clearSelections()

◆ createPropertyDefinitions()

◆ deselect()

◆ deselectionCallback()

◆ disableAllLayers()

◆ disableSelections()

◆ draw24BitColoredPointCloud()

◆ drawArrow()

◆ drawBox()

◆ drawCircle()

◆ drawColoredPointCloud()

◆ drawCoordSystem()

◆ drawCylinder()

◆ drawLine()

◆ drawLineSet()

◆ drawPointCloud()

◆ drawPolygon()

◆ drawRobot()

◆ drawSphere()

◆ drawText()

◆ drawTriMesh()

◆ enableAllLayers()

◆ enableDebugLayerVisu()

◆ enableLayerVisu()

◆ enableSelections()

◆ ensureExistingRobotNodes()

◆ exportLayer()

◆ exportScene()

◆ getAllDefaultLayerVisibilities()

◆ getDefaultLayerVisibility() [1/2]

◆ getDefaultLayerVisibility() [2/2]

◆ getDefaultName()

◆ getScopedAccumulatedDataLock()

◆ getScopedVisuLock()

◆ getSelections()

◆ getVisualization()

◆ hasLayer()

◆ installSelectionCallbacks()

◆ layerInformation()

◆ layerNames()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ onRemoveAccumulatedData()

◆ onUpdateVisualization()

◆ remove24BitColoredPointCloud()

◆ remove24BitColoredPointCloudDebugLayerVisu()

◆ remove24BitColoredPointCloudVisu()

◆ removeAccumulatedData()

◆ removeArrow()

◆ removeArrowDebugLayerVisu()

◆ removeArrowVisu()

◆ removeBox()

◆ removeBoxDebugLayerVisu()

◆ removeBoxVisu()

◆ removeCircle()

◆ removeCircleDebugLayerVisu()