Saba::CoinRrtWorkspaceVisualization Class Reference

Inheritance diagram for Saba::CoinRrtWorkspaceVisualization:

Public Member Functions
	CoinRrtWorkspaceVisualization (VirtualRobot::RobotPtr robot, CSpacePtr cspace, const std::string &TCPName)
	CoinRrtWorkspaceVisualization (VirtualRobot::RobotPtr robot, VirtualRobot::RobotNodeSetPtr robotNodeSet, const std::string &TCPName)
	~CoinRrtWorkspaceVisualization () override
bool	addCSpacePath (CSpacePathPtr path, RrtWorkspaceVisualization::ColorSet colorSet=eBlue) override
bool	addTree (CSpaceTreePtr tree, RrtWorkspaceVisualization::ColorSet colorSet=eRed) override
bool	addConfiguration (const Eigen::VectorXf &c, RrtWorkspaceVisualization::ColorSet colorSet=eGreen, float nodeSizeFactor=1.0f) override
void	reset () override
SoSeparator *	getCoinVisualization ()
Public Member Functions inherited from Saba::RrtWorkspaceVisualization
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RrtWorkspaceVisualization (VirtualRobot::RobotPtr robot, CSpacePtr cspace, const std::string &TCPName)
	RrtWorkspaceVisualization (VirtualRobot::RobotPtr robot, VirtualRobot::RobotNodeSetPtr robotNodeSet, const std::string &TCPName)
virtual	~RrtWorkspaceVisualization ()
void	setTCPName (const std::string TCPName)
virtual void	setPathStyle (float lineSize=4.0f, float nodeSize=15.0f, float renderComplexity=1.0f)
virtual void	setTreeStyle (float lineSize=1.0f, float nodeSize=15.0f, float renderComplexity=0.1f)
virtual void	setCustomColor (float nodeR, float nodeG, float nodeB, float lineR=0.5f, float lineG=0.5f, float lineB=0.5f)
virtual void	colorizeTreeNodes (int status, ColorSet colorSet)

Protected Member Functions
void	coinInit ()
Protected Member Functions inherited from Saba::RrtWorkspaceVisualization
void	init ()

Protected Attributes
SoSeparator *	visualization
Protected Attributes inherited from Saba::RrtWorkspaceVisualization
VirtualRobot::RobotPtr	robot
CSpacePtr	cspace
VirtualRobot::RobotNodeSetPtr	robotNodeSet
VirtualRobot::RobotNodePtr	TCPNode
std::string	TCPName
float	pathLineSize
float	pathNodeSize
float	pathRenderComplexity
float	treeLineSize
float	treeNodeSize
float	treeRenderComplexity
std::map< ColorSet, RenderColors >	colors
std::map< int, ColorSet >	treeNodeStatusColor

Additional Inherited Members
Public Types inherited from Saba::RrtWorkspaceVisualization
enum	ColorSet { eRed, eGreen, eBlue, eCustom }

Constructor & Destructor Documentation

CoinRrtWorkspaceVisualization() [1/2]

CoinRrtWorkspaceVisualization::CoinRrtWorkspaceVisualization	(	VirtualRobot::RobotPtr	robot,
		CSpacePtr	cspace,
		const std::string &	TCPName
	)

Constructor Robot must have a node with name TCPName. The visualizations are build by determining the TCP's position in workspace according to the configurations of a path or tree .

CoinRrtWorkspaceVisualization() [2/2]

CoinRrtWorkspaceVisualization::CoinRrtWorkspaceVisualization	(	VirtualRobot::RobotPtr	robot,
		VirtualRobot::RobotNodeSetPtr	robotNodeSet,
		const std::string &	TCPName
	)

~CoinRrtWorkspaceVisualization()

CoinRrtWorkspaceVisualization::~CoinRrtWorkspaceVisualization ( )

override

If CoinRrtWorkspaceVisualization::visualization is a valid object call SoNode::unref() on it.

Member Function Documentation

addConfiguration()

bool CoinRrtWorkspaceVisualization::addConfiguration ( const Eigen::VectorXf &  c, RrtWorkspaceVisualization::ColorSet  colorSet = eGreen, float  nodeSizeFactor = 1.0f  )

overridevirtual

Add visualization of a configuration in cspace.

Implements Saba::RrtWorkspaceVisualization.

addCSpacePath()

bool CoinRrtWorkspaceVisualization::addCSpacePath ( CSpacePathPtr  path, RrtWorkspaceVisualization::ColorSet  colorSet = eBlue  )

overridevirtual

Add visualization of a path in cspace.

Implements Saba::RrtWorkspaceVisualization.

addTree()

bool CoinRrtWorkspaceVisualization::addTree ( CSpaceTreePtr  tree, RrtWorkspaceVisualization::ColorSet  colorSet = eRed  )

overridevirtual

Add visualization of a tree (e.g an RRT) in cspace.

Implements Saba::RrtWorkspaceVisualization.

coinInit()

void CoinRrtWorkspaceVisualization::coinInit ( )

protected

getCoinVisualization()

SoSeparator * CoinRrtWorkspaceVisualization::getCoinVisualization

(

)

This mehtod returns the internal CoinRrtWorkspaceVisualization::visualization.

reset()

void CoinRrtWorkspaceVisualization::reset ( )

overridevirtual

Set the custom line and node color. Does not affect already added trees or paths.

Clears all visualizations.

Reimplemented from Saba::RrtWorkspaceVisualization.

Field Documentation

visualization

SoSeparator* Saba::CoinRrtWorkspaceVisualization::visualization

protected