DebugDrawerComponent

Visualizes debug information. More...

Classes
class	DebugDrawerComponent
	The DebugDrawerComponent class. More...

Detailed Description

Visualizes debug information.

The DebugDrawerComponent implements the DebugDrawerInterface and provides a convenient way for visualizing debug information. It creates a scene graph representation of the debug content and offers it to visualization components. Several GUI plugins visualize this debug scene graph, among others:

• RobotViewer (RobotAPI)
• WorkingMemoryGui (MemoryX)
• SimulatorViewer (ArmarXSimulation)

The following example shows an exemplary debug drawing:

DebugDrawerInterfacePrx prxDD = getTopic<DebugDrawerInterfacePrx>("DebugDrawerUpdates");
if (prxDD)
{
    // draw in global coordinate system
    Eigen::Matrix4f p;
    p.setIdentity();
    p(2,3) = 1000.0f;
    PosePtr gp(new Pose(p));
    prxDD->setPoseDebugLayerVisu("testPose",gp);
 
    armarx::Vector3Ptr p1(new armarx::Vector3(0, 0, 0));
    armarx::Vector3Ptr p2(new armarx::Vector3(1000, 1000, 1000));
 
    armarx::DrawColor c = {1, 0, 0, 1}; // RGBA
    prxDD->setLineDebugLayerVisu("testLine", p1, p2, 2.0f, c);
}