Saba::RrtWorkspaceVisualization Class Reference

Inheritance diagram for Saba::RrtWorkspaceVisualization:

Data Structures
struct	RenderColors

Public Types
enum	ColorSet { eRed, eGreen, eBlue, eCustom }

Public Member Functions
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 ()
virtual void	reset ()
void	setTCPName (const std::string TCPName)
virtual bool	addCSpacePath (CSpacePathPtr path, RrtWorkspaceVisualization::ColorSet colorSet=eBlue)=0
virtual void	setPathStyle (float lineSize=4.0f, float nodeSize=15.0f, float renderComplexity=1.0f)
virtual bool	addTree (CSpaceTreePtr tree, RrtWorkspaceVisualization::ColorSet colorSet=eRed)=0
virtual void	setTreeStyle (float lineSize=1.0f, float nodeSize=15.0f, float renderComplexity=0.1f)
virtual bool	addConfiguration (const Eigen::VectorXf &c, RrtWorkspaceVisualization::ColorSet colorSet=eGreen, float nodeSizeFactor=1.0f)=0
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	init ()

Protected Attributes
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

Detailed Description

A visualization of an RRT search tree.

See also

CoinRrtWorkspaceVisualization

Member Enumeration Documentation

ColorSet

enum Saba::RrtWorkspaceVisualization::ColorSet

Enumerator
eRed
eGreen
eBlue
eCustom

Constructor & Destructor Documentation

RrtWorkspaceVisualization() [1/2]

Saba::RrtWorkspaceVisualization::RrtWorkspaceVisualization	(	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 .

RrtWorkspaceVisualization() [2/2]

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

~RrtWorkspaceVisualization()

Saba::RrtWorkspaceVisualization::~RrtWorkspaceVisualization ( )

virtualdefault

Member Function Documentation

addConfiguration()

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

pure virtual

Add visualization of a configuration in cspace.

Implemented in Saba::CoinRrtWorkspaceVisualization.

addCSpacePath()

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

pure virtual

Add visualization of a path in cspace.

Implemented in Saba::CoinRrtWorkspaceVisualization.

addTree()

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

pure virtual

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

Implemented in Saba::CoinRrtWorkspaceVisualization.

colorizeTreeNodes()

void Saba::RrtWorkspaceVisualization::colorizeTreeNodes ( int  status, ColorSet  colorSet  )

virtual

Set tree nodes with status flag equal to given parameter to the specified color.

init()

void Saba::RrtWorkspaceVisualization::init ( )

protected

reset()

void Saba::RrtWorkspaceVisualization::reset ( )

virtual

Clears all visualizations.

Reimplemented in Saba::CoinRrtWorkspaceVisualization.

setCustomColor()

void Saba::RrtWorkspaceVisualization::setCustomColor ( float  nodeR, float  nodeG, float  nodeB, float  lineR = 0.5f, float  lineG = 0.5f, float  lineB = 0.5f  )

virtual

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

setPathStyle()

void Saba::RrtWorkspaceVisualization::setPathStyle ( float  lineSize = 4.0f, float  nodeSize = 15.0f, float  renderComplexity = 1.0f  )

virtual

setTCPName()

void Saba::RrtWorkspaceVisualization::setTCPName

(

const std::string

TCPName

)

Set name of TCP joint. Does not affect already added paths or trees.

setTreeStyle()

void Saba::RrtWorkspaceVisualization::setTreeStyle ( float  lineSize = 1.0f, float  nodeSize = 15.0f, float  renderComplexity = 0.1f  )

virtual

Field Documentation

colors

std::map<ColorSet, RenderColors> Saba::RrtWorkspaceVisualization::colors

protected

cspace

CSpacePtr Saba::RrtWorkspaceVisualization::cspace

protected

pathLineSize

float Saba::RrtWorkspaceVisualization::pathLineSize

protected

pathNodeSize

float Saba::RrtWorkspaceVisualization::pathNodeSize

protected

pathRenderComplexity

float Saba::RrtWorkspaceVisualization::pathRenderComplexity

protected

robot

VirtualRobot::RobotPtr Saba::RrtWorkspaceVisualization::robot

protected

robotNodeSet

VirtualRobot::RobotNodeSetPtr Saba::RrtWorkspaceVisualization::robotNodeSet

protected

TCPName

std::string Saba::RrtWorkspaceVisualization::TCPName

protected

TCPNode

VirtualRobot::RobotNodePtr Saba::RrtWorkspaceVisualization::TCPNode

protected

treeLineSize

float Saba::RrtWorkspaceVisualization::treeLineSize

protected

treeNodeSize

float Saba::RrtWorkspaceVisualization::treeNodeSize

protected

treeNodeStatusColor

std::map<int, ColorSet> Saba::RrtWorkspaceVisualization::treeNodeStatusColor

protected

treeRenderComplexity

float Saba::RrtWorkspaceVisualization::treeRenderComplexity

protected