Inheritance diagram for VirtualRobot::CoinVisualizationFactory:

Public Types
typedef std::map< std::pair< size_t, std::string >, void * >	TextureCacheMap

Public Types inherited from AbstractFactoryMethod< VisualizationFactory, void *>
typedef std::shared_ptr< VisualizationFactory >(*	initialisationFunction) (void *)

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CoinVisualizationFactory ()

	~CoinVisualizationFactory () override

void	init (int &argc, char *argv[], const std::string &appName) override

VisualizationNodePtr	getVisualizationFromPrimitives (const std::vector< Primitive::PrimitivePtr > &primitives, bool boundingBox=false, Color color=Color::Gray()) override

VisualizationNodePtr	getVisualizationFromFile (const std::string &filename, bool boundingBox=false, float scaleX=1.0f, float scaleY=1.0f, float scaleZ=1.0f) override

virtual VisualizationNodePtr	getVisualizationFromFileWithAssimp (const std::string &filename, bool boundingBox=false, float scaleX=1.0f, float scaleY=1.0f, float scaleZ=1.0f)

virtual VisualizationNodePtr	getVisualizationFromCoin3DFile (const std::string &filename, bool boundingBox=false)

VisualizationNodePtr	getVisualizationFromFile (const std::ifstream &ifs, bool boundingBox=false, float scaleX=1.0f, float scaleY=1.0f, float scaleZ=1.0f) override

virtual VisualizationNodePtr	getVisualizationFromString (const std::string &modelString, bool boundingBox=false)

virtual VisualizationPtr	getVisualization (const std::vector< VisualizationNodePtr > &visus)

virtual VisualizationPtr	getVisualization (VisualizationNodePtr visu)

VisualizationNodePtr	createBox (float width, float height, float depth, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f) override

VisualizationNodePtr	createLine (const Eigen::Vector3f &from, const Eigen::Vector3f &to, float width=1.0f, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f) override

VisualizationNodePtr	createLine (const Eigen::Matrix4f &from, const Eigen::Matrix4f &to, float width=1.0f, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f) override

VisualizationNodePtr	createSphere (float radius, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f) override

VisualizationNodePtr	createCylinder (float radius, float height, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f) override

VisualizationNodePtr	createCircle (float radius, float circleCompletion, float width, float colorR=1.0f, float colorG=0.5f, float colorB=0.5f, size_t numberOfCircleParts=30) override

VisualizationNodePtr	createCoordSystem (float scaling=1.0f, std::string *text=NULL, float axisLength=100.0f, float axisSize=3.0f, int nrOfBlocks=10) override

VisualizationNodePtr	createBoundingBox (const BoundingBox &bbox, bool wireFrame=false) override

VisualizationNodePtr	createVertexVisualization (const Eigen::Vector3f &position, float radius, float transparency, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f) override

VisualizationNodePtr	createTriMeshModelVisualization (const TriMeshModelPtr &model, const Eigen::Matrix4f &pose=Eigen::Matrix4f::Identity(), float scaleX=1.0f, float scaleY=1.0f, float scaleZ=1.0f) override

VisualizationNodePtr	createTriMeshModelVisualization (const TriMeshModelPtr &model, bool showNormals, const Eigen::Matrix4f &pose, bool showLines=true) override

VisualizationNodePtr	createPlane (const Eigen::Vector3f &position, const Eigen::Vector3f &normal, float extend, float transparency, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f) override

VisualizationNodePtr	createArrow (const Eigen::Vector3f &n, float length=50.0f, float width=2.0f, const Color &color=Color::Gray()) override

VisualizationNodePtr	createCircleArrow (float radius, float tubeRadius, float completion=1, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f, float transparency=0.0f, int sides=8, int rings=30) override

VisualizationNodePtr	createTrajectory (TrajectoryPtr t, Color colorNode=Color::Blue(), Color colorLine=Color::Gray(), float nodeSize=15.0f, float lineSize=4.0f) override

VisualizationNodePtr	createText (const std::string &text, bool billboard=false, float scaling=1.0f, Color c=Color::Black(), float offsetX=20.0f, float offsetY=20.0f, float offsetZ=0.0f) override

VisualizationNodePtr	createTorus (float radius, float tubeRadius, float completion=1, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f, float transparency=0.0f, int sides=8, int rings=30) override

VisualizationNodePtr	createEllipse (float x, float y, float z, bool showAxes=true, float axesHeight=4.0f, float axesWidth=8.0f) override

void	applyDisplacement (VisualizationNodePtr o, Eigen::Matrix4f &m) override

VisualizationNodePtr	createVisualization () override

VisualizationNodePtr	createUnitedVisualization (const std::vector< VisualizationNodePtr > &visualizations) const override

void	cleanup () override

Public Member Functions inherited from VirtualRobot::VisualizationFactory
	VisualizationFactory ()=default

virtual	~VisualizationFactory ()=default

virtual VisualizationNodePtr	createPlane (const MathTools::Plane &plane, float extend, float transparency, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f)

Public Member Functions inherited from AbstractFactoryMethod< VisualizationFactory, void *>
void	setDescription (const std::string &newDescription)

std::string	getDescription () const

Static Public Member Functions
static SoSeparator *	CreateConvexHull2DVisualization (const MathTools::ConvexHull2DPtr ch, MathTools::Plane &p, VisualizationFactory::Color colorInner=VisualizationFactory::Color::Blue(), VisualizationFactory::Color colorLine=VisualizationFactory::Color::Black(), float lineSize=5.0f, const Eigen::Vector3f &offset=Eigen::Vector3f::Zero())

static SoSeparator *	CreatePolygonVisualization (const std::vector< Eigen::Vector3f > &points, VisualizationFactory::Color colorInner=VisualizationFactory::Color::Blue(), VisualizationFactory::Color colorLine=VisualizationFactory::Color::Black(), float lineSize=4.0f)

static SoSeparator *	CreatePolygonVisualization (const std::vector< Eigen::Vector3f > &points, VisualizationFactory::PhongMaterial mat, VisualizationFactory::Color colorLine=VisualizationFactory::Color::Black(), float lineSize=4.0f)

static SoSeparator *	CreatePlaneVisualization (const Eigen::Vector3f &position, const Eigen::Vector3f &normal, float extend, float transparency, bool grid=true, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f, std::string textureFile=std::string())

static SoSeparator *	CreateCoordSystemVisualization (float scaling=1.0f, std::string *text=NULL, float axisLength=100.0f, float axisSize=3.0f, int nrOfBlocks=10)

static SoSeparator *	CreateBoundingBox (SoNode *ivModel, bool wireFrame=false)

static SoSeparator *	CreateGrid (float width, float depth, float widthMosaic, float depthMosaic, bool InvertNormal, const char *pFileName, float Transparency)

static SoSeparator *	CreateBBoxVisualization (const BoundingBox &bbox, bool wireFrame=false)

static SoSeparator *	CreatePointVisualization (const MathTools::ContactPoint &point, bool showNormals=false)

static SoSeparator *	CreatePointsVisualization (const std::vector< MathTools::ContactPoint > &points, bool showNormals=false)

static SoSeparator *	CreateArrow (const Eigen::Vector3f &pt, const Eigen::Vector3f &n, float length=50.0f, float width=2.0f, const Color &color=Color::Gray())

static SoSeparator *	CreateArrow (const Eigen::Vector3f &n, float length=50.0f, float width=2.0f, const Color &color=Color::Gray())

static SoSeparator *	CreateVertexVisualization (const Eigen::Vector3f &position, float radius, float transparency, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f)

static SoSeparator *	CreateVerticesVisualization (const std::vector< Eigen::Vector3f > &positions, float radius, VisualizationFactory::Color color=VisualizationFactory::Color::Gray())

static void	RemoveDuplicateTextures (SoNode *node, const std::string &currentPath)

static SoSeparator *	CreateEllipse (float x, float y, float z, SoMaterial matBody=NULL, bool showAxes=true, float axesHeight=4.0f, float axesWidth=8.0f, SoMaterial matAxisX=NULL, SoMaterial matAxisY=NULL, SoMaterial matAxisZ=NULL)

static SoSeparator *	CreateSphere (float radius, float colorR, float colorG, float colorB)

static SoSeparator *	CreateSphere (const Eigen::Vector3f &p, float radius, float colorR, float colorG, float colorB)

static SoSeparator *	CreateCylindroid (float axisLengthX, float axisLengthY, float height, SoMaterial *matBody=nullptr)

static SoSeparator *	Create2DMap (const Eigen::MatrixXf &d, float extendCellX, float extendCellY, const VirtualRobot::ColorMap cm=VirtualRobot::ColorMap(VirtualRobot::ColorMap::eHot), bool drawZeroCells=false, bool drawLines=true)

static SoSeparator *	Create2DHeightMap (const Eigen::MatrixXf &d, float extendCellX, float extendCellY, float heightZ, const VirtualRobot::ColorMap cm=VirtualRobot::ColorMap(VirtualRobot::ColorMap::eHot), bool drawZeroCells=false, bool drawLines=true)

static SoSeparator *	CreateOOBBVisualization (const MathTools::OOBB &oobb, Color colorLine=Color::Gray(), float lineSize=4.0f)

static SoSeparator *	CreateSegmentVisualization (const MathTools::Segment &s, Color colorLine=Color::Gray(), float lineSize=4.0f)

static SoSeparator *	Colorize (SoNode *model, VisualizationFactory::Color c)

static SbMatrix	getSbMatrix (const Eigen::Matrix4f &m)

static SbMatrix	getSbMatrixVec (const Eigen::Vector3f &m)

static SoSeparator *	CreateGraspSetVisualization (GraspSetPtr graspSet, EndEffectorPtr eef, const Eigen::Matrix4f &pose=Eigen::Matrix4f::Identity(), SceneObject::VisualizationType visu=SceneObject::Full)

static SoSeparator *	CreateGraspVisualization (GraspPtr grasp, SoSeparator *eefVisu, const Eigen::Matrix4f &pose=Eigen::Matrix4f::Identity())

static SoSeparator *	CreateGraspVisualization (GraspPtr grasp, EndEffectorPtr eef, const Eigen::Matrix4f &pose=Eigen::Matrix4f::Identity(), SceneObject::VisualizationType visu=SceneObject::Full)

static SoSeparator *	CreateEndEffectorVisualization (EndEffectorPtr eef, SceneObject::VisualizationType=SceneObject::Full)

static SoNode *	getColorNode (Color color)

static SoSeparator *	CreateText (const std::string &s, float offsetX=20.0f, float offsetY=20.0f, float offsetZ=0.0f)

static SoSeparator *	CreateBillboardText (const std::string &s, float offsetX=20.0f, float offsetY=20.0f, float offsetZ=0.0f)

static SoNode *	getCoinVisualization (RobotPtr robot, SceneObject::VisualizationType visuType, bool selectable=true)

static SoNode *	getCoinVisualization (SceneObjectPtr object, SceneObject::VisualizationType visuType)

static SoNode *	getCoinVisualization (VirtualRobot::EndEffector::ContactInfoVector &contacts, float frictionConeHeight=30.0f, float frictionConeRadius=15.0f, bool scaleAccordingToApproachDir=true)

static SoNode *	getCoinVisualization (EndEffector::ContactInfo &contact, float frictionConeHeight=30.0f, float frictionConeRadius=15.0f, bool scaleAccordingToApproachDir=true)

static SoNode *	getCoinVisualization (VisualizationNodePtr visu)

static SoNode *	getCoinVisualization (TriMeshModelPtr model)

static SoNode *	getCoinVisualization (TriMeshModelPtr model, bool shownormals, VisualizationFactory::Color color=VisualizationFactory::Color::Gray(), bool showLines=true)

static SoNode *	getCoinVisualization (TrajectoryPtr t, Color colorNode=Color::Blue(), Color colorLine=Color::Gray(), float nodeSize=15.0f, float lineSize=4.0f)

static SoNode *	getCoinVisualization (WorkspaceRepresentationPtr reachSpace, const VirtualRobot::ColorMap cm, bool transformToGlobalPose=true, float maxZGlobal=1e10, float minAngle=-M_PI, float maxAngle=M_PI)

static SoNode *	getCoinVisualization (WorkspaceRepresentationPtr reachSpace, VirtualRobot::ColorMap cm, const Eigen::Vector3f &axis, bool transformToGlobalPose=true, unsigned char minValue=0, float arrowSize=0, int nrRotations=1)

static SoNode *	getCoinVisualization (WorkspaceRepresentationPtr reachSpace, const Eigen::Vector3f &fixedEEFOrientationGlobalRPY, VirtualRobot::ColorMap cm=VirtualRobot::ColorMap(VirtualRobot::ColorMap::eHot), bool transformToGlobalPose=true, const Eigen::Vector3f &axis=Eigen::Vector3f(0, 0, 1.0f), unsigned char minValue=0, float arrowSize=0)
	Helper method: Create reach space visualization of a fixed orientation. More...

static SoNode *	getCoinVisualization (WorkspaceRepresentationPtr reachSpace, int a, int b, int c, int nrBestEntries, SoSeparator *arrow, const VirtualRobot::ColorMap &cm, bool transformToGlobalPose, unsigned char minValue)
	helper method: create nrBestEntries arrows in direction of maximum orientation for voxelPosition (a,b,c) More...

static SoNode *	getCoinVisualization (TSRConstraintPtr constraint, const Color &color)

static SoNode *	getCoinVisualization (BalanceConstraintPtr constraint, const Color &color)

static SoNode *	getCoinVisualization (PoseConstraintPtr constraint, const Color &color)

static SoNode *	getCoinVisualization (PositionConstraintPtr constraint, const Color &color)

static SoNode *	getCoinVisualization (SupportPolygonPtr supportPolygon, const Color &color)

static SoMatrixTransform *	getMatrixTransform (const Eigen::Matrix4f &m)

static SoMatrixTransform *	getMatrixTransformScaleMM2M (const Eigen::Matrix4f &m)

static SoNode *	createCoinLine (const Eigen::Matrix4f &from, const Eigen::Matrix4f &to, float width, float colorR, float colorG, float colorB)

static SoNode *	createCoinPartCircle (float radius, float circleCompletion, float width, float colorR, float colorG, float colorB, size_t numberOfCircleParts, float offset=0)

static SoNode *	getCoinVisualization (WorkspaceGridPtr reachGrid, VirtualRobot::ColorMap cm, bool transformToGlobalPose=true)

static SoNode *	getCoinVisualization (VirtualRobot::WorkspaceRepresentation::WorkspaceCut2DPtr cutXY, VirtualRobot::ColorMap cm, const Eigen::Vector3f &normal=Eigen::Vector3f::UnitY(), float maxEntry=0.0f, float minAngle=-M_PI, float maxAngle=M_PI)

static SoOffscreenRenderer *	createOffscreenRenderer (unsigned int width, unsigned int height)

static bool	renderOffscreen (SoOffscreenRenderer renderer, RobotNodePtr camNode, SoNode scene, unsigned char **buffer, float zNear=10.f, float zFar=100000.f, float fov=M_PI/4)

static bool	renderOffscreenRgbDepthPointcloud (RobotNodePtr camNode, SoNode *scene, short width, short height, bool renderRgbImage, std::vector< unsigned char > &rgbImage, bool renderDepthImgae, std::vector< float > &depthImage, bool renderPointcloud, std::vector< Eigen::Vector3f > &pointCloud, float zNear=10.f, float zFar=100000.f, float vertFov=M_PI/4, float nanValue=NAN)
	Renders the given scene from the given cam position and outputs (optionally) the rgb image, depth image and point cloud. More...

static bool	renderOffscreenRgbDepthPointcloud (SoOffscreenRenderer renderer, RobotNodePtr camNode, SoNode scene, short width, short height, bool renderRgbImage, std::vector< unsigned char > &rgbImage, bool renderDepthImage, std::vector< float > &depthImage, bool renderPointcloud, std::vector< Eigen::Vector3f > &pointCloud, float zNear=10.f, float zFar=100000.f, float vertFov=M_PI/4, float nanValue=NAN)
	Renders the given scene from the given cam position and outputs (optionally) the rgb image, depth image and point cloud. This version is much faster if always the same SoOffscreenRenderer is passed in. More...

static bool	renderOffscreenRgbDepthPointcloud (SoOffscreenRenderer renderer, const Eigen::Matrix4f camPose, SoNode scene, short width, short height, bool renderRgbImage, std::vector< unsigned char > &rgbImage, bool renderDepthImage, std::vector< float > &depthImage, bool renderPointcloud, std::vector< Eigen::Vector3f > &pointCloud, float zNear=10.f, float zFar=100000.f, float vertFov=M_PI/4, float nanValue=NAN)

static bool	renderOffscreenRgbDepthPointcloud (RobotNodePtr camNode, SoNode *scene, short width, short height, std::vector< unsigned char > &rgbImage, std::vector< float > &depthImage, std::vector< Eigen::Vector3f > &pointCloud, float zNear=10.f, float zFar=100000.f, float vertFov=M_PI/4, float nanValue=NAN)
	Renders the given scene from the given cam position and outputs the rgb image, depth image and point cloud. More...

static bool	renderOffscreen (SoOffscreenRenderer renderer, SoPerspectiveCamera cam, SoNode scene, unsigned char *buffer)

static SoGroup *	convertSoFileChildren (SoGroup *orig)

static SoNode *	copyNode (SoNode *n)

static std::string	getName ()

static std::shared_ptr< VisualizationFactory >	createInstance (void *)

Static Public Member Functions inherited from AbstractFactoryMethod< VisualizationFactory, void *>
static std::shared_ptr< VisualizationFactory >	fromName (const std::string &name, void * params)

static std::shared_ptr< VisualizationFactory >	first (void * params)

static std::string	getName ()

static std::shared_ptr< VisualizationFactory >	createInstance (void *)

static void	registerClass (const std::string &name, initialisationFunction init)

static std::vector< std::string >	getSubclassList ()

Static Protected Member Functions
static SoNode *	GetNodeFromPrimitive (Primitive::PrimitivePtr primitive, bool boundingBox, Color color)

static void	GetVisualizationFromSoInput (SoInput &soInput, VisualizationNodePtr &visualizationNode, bool bbox=false, bool freeDuplicateTextures=true)

static char	IVToolsHelper_ReplaceSpaceWithUnderscore (char input)

Detailed Description

A Coin3D based implementation of a VisualizationFactory.

Member Typedef Documentation

◆ TextureCacheMap

typedef std::map<std::pair<size_t, std::string>, void*> VirtualRobot::CoinVisualizationFactory::TextureCacheMap

Constructor & Destructor Documentation

◆ CoinVisualizationFactory()

VirtualRobot::CoinVisualizationFactory::CoinVisualizationFactory ( )

default

◆ ~CoinVisualizationFactory()

VirtualRobot::CoinVisualizationFactory::~CoinVisualizationFactory ( )

overridedefault

Member Function Documentation

◆ applyDisplacement()

void VirtualRobot::CoinVisualizationFactory::applyDisplacement	(	VisualizationNodePtr	o,
		Eigen::Matrix4f &	m
	)

overridevirtual

Move local visualization by homogeneous matrix m. MM is used.

Reimplemented from VirtualRobot::VisualizationFactory.

◆ cleanup()

void VirtualRobot::CoinVisualizationFactory::cleanup ( )

overridevirtual

Here, a manual cleanup can be called, no Coin3D access possible after this. Usually no need to call cleanup explicitly, since cleanup is performed automatically at application exit.

Reimplemented from VirtualRobot::VisualizationFactory.

◆ Colorize()

SoSeparator * VirtualRobot::CoinVisualizationFactory::Colorize	(	SoNode *	model,
		VisualizationFactory::Color	c
	)

static

Creates a colored model, by creating a new SoSeparator and adding a basecolor with overide flags followed by the model.

◆ convertSoFileChildren()

SoGroup * VirtualRobot::CoinVisualizationFactory::convertSoFileChildren ( SoGroup * orig )

static

When SoFiles are used, Coin3D just stores references to files instead of the real contents. This may cause problems when saving an inventor file. With this method, a group node can be converted in order to ensure that all potential files are loaded and added to the group.

◆ copyNode()

SoNode * VirtualRobot::CoinVisualizationFactory::copyNode ( SoNode * n )

static

◆ Create2DHeightMap()

SoSeparator * VirtualRobot::CoinVisualizationFactory::Create2DHeightMap	(	const Eigen::MatrixXf &	d,
		float	extendCellX,
		float	extendCellY,
		float	heightZ,
		const VirtualRobot::ColorMap	cm = `VirtualRobot::ColorMap(VirtualRobot::ColorMap::eHot)`,
		bool	drawZeroCells = `false`,
		bool	drawLines = `true`
	)

static

◆ Create2DMap()

SoSeparator * VirtualRobot::CoinVisualizationFactory::Create2DMap	(	const Eigen::MatrixXf &	d,
		float	extendCellX,
		float	extendCellY,
		const VirtualRobot::ColorMap	cm = `VirtualRobot::ColorMap(VirtualRobot::ColorMap::eHot)`,
		bool	drawZeroCells = `false`,
		bool	drawLines = `true`
	)

static

◆ createArrow()

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createArrow	(	const Eigen::Vector3f &	n,
		float	length = `50.0f`,
		float	width = `2.0f`,
		const Color &	color = `Color::Gray()`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ CreateArrow() [1/2]

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateArrow	(	const Eigen::Vector3f &	pt,
		const Eigen::Vector3f &	n,
		float	length = `50.0f`,
		float	width = `2.0f`,
		const Color &	color = `Color::Gray()`
	)

static

◆ CreateArrow() [2/2]

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateArrow	(	const Eigen::Vector3f &	n,
		float	length = `50.0f`,
		float	width = `2.0f`,
		const Color &	color = `Color::Gray()`
	)

static

◆ CreateBBoxVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateBBoxVisualization	(	const BoundingBox &	bbox,
		bool	wireFrame = `false`
	)

static

◆ CreateBillboardText()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateBillboardText	(	const std::string &	s,
		float	offsetX = `20.0f`,
		float	offsetY = `20.0f`,
		float	offsetZ = `0.0f`
	)

static

Billboard Text visu. Offsets in mm.

◆ createBoundingBox()

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createBoundingBox	(	const BoundingBox &	bbox,
		bool	wireFrame = `false`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ CreateBoundingBox()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateBoundingBox	(	SoNode *	ivModel,
		bool	wireFrame = `false`
	)

static

◆ createBox()

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createBox	(	float	,
		float	,
		float	,
		float	= `0.5f`,
		float	= `0.5f`,
		float	= `0.5f`
	)

overridevirtual

A box, dimensions are given in mm.

Reimplemented from VirtualRobot::VisualizationFactory.

◆ createCircle()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createCircle	(	float	radius,
		float	circleCompletion,
		float	width,
		float	colorR = `1.0f`,
		float	colorG = `0.5f`,
		float	colorB = `0.5f`,
		size_t	numberOfCircleParts = `30`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ createCircleArrow()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createCircleArrow	(	float	radius,
		float	tubeRadius,
		float	completion = `1`,
		float	colorR = `0.5f`,
		float	colorG = `0.5f`,
		float	colorB = `0.5f`,
		float	transparency = `0.0f`,
		int	sides = `8`,
		int	rings = `30`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ createCoinLine()

SoNode * VirtualRobot::CoinVisualizationFactory::createCoinLine	(	const Eigen::Matrix4f &	from,
		const Eigen::Matrix4f &	to,
		float	width,
		float	colorR,
		float	colorG,
		float	colorB
	)

static

◆ createCoinPartCircle()

SoNode * VirtualRobot::CoinVisualizationFactory::createCoinPartCircle	(	float	radius,
		float	circleCompletion,
		float	width,
		float	colorR,
		float	colorG,
		float	colorB,
		size_t	numberOfCircleParts,
		float	offset = `0`
	)

static

◆ CreateConvexHull2DVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateConvexHull2DVisualization	(	const MathTools::ConvexHull2DPtr	ch,
		MathTools::Plane &	p,
		VisualizationFactory::Color	colorInner = `VisualizationFactory::Color::Blue()`,
		VisualizationFactory::Color	colorLine = `VisualizationFactory::Color::Black()`,
		float	lineSize = `5.0f`,
		const Eigen::Vector3f &	offset = `Eigen::Vector3f::Zero()`
	)

static

◆ createCoordSystem()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createCoordSystem	(	float	scaling = `1.0f`,
		std::string *	text = `NULL`,
		float	axisLength = `100.0f`,
		float	axisSize = `3.0f`,
		int	nrOfBlocks = `10`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ CreateCoordSystemVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateCoordSystemVisualization	(	float	scaling = `1.0f`,
		std::string *	text = `NULL`,
		float	axisLength = `100.0f`,
		float	axisSize = `3.0f`,
		int	nrOfBlocks = `10`
	)

static

◆ createCylinder()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createCylinder	(	float	radius,
		float	height,
		float	colorR = `0.5f`,
		float	colorG = `0.5f`,
		float	colorB = `0.5f`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ CreateCylindroid()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateCylindroid	(	float	axisLengthX,
		float	axisLengthY,
		float	height,
		SoMaterial *	matBody = `nullptr`
	)

static

◆ createEllipse()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createEllipse	(	float	x,
		float	y,
		float	z,
		bool	showAxes = `true`,
		float	axesHeight = `4.0f`,
		float	axesWidth = `8.0f`
	)

overridevirtual

Creates an coordinate axis aligned ellipse

Parameters

x	The extend in x direction must be >= 1e-6
y	The extend in y direction must be >= 1e-6
z	The extend in z direction must be >= 1e-6
showAxes	If true, the axes are visualized
axesHeight	The height of the axes (measured from the body surface)
axesWidth	The width of the axes.

Returns: A VisualizationNode containing the visualization.

Reimplemented from VirtualRobot::VisualizationFactory.

◆ CreateEllipse()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateEllipse	(	float	x,
		float	y,
		float	z,
		SoMaterial *	matBody = `NULL`,
		bool	showAxes = `true`,
		float	axesHeight = `4.0f`,
		float	axesWidth = `8.0f`,
		SoMaterial *	matAxisX = `NULL`,
		SoMaterial *	matAxisY = `NULL`,
		SoMaterial *	matAxisZ = `NULL`
	)

static

Creates an coordinate axis aligned ellipse

Parameters

x	The extend in x direction must be >= 1e-6
y	The extend in y direction must be >= 1e-6
z	The extend in z direction must be >= 1e-6
matBody	If not given a standard material is used for the ellipse body
showAxes	If true, the axes are visualized
axesHeight	The height of the axes (measured from the body surface)
axesWidth	The width of the axes.
matAxisX	If not given a standard material is used for axis X
matAxisY	If not given a standard material is used for axis Y
matAxisZ	If not given a standard material is used for axis Z

Returns: A separator containing the visualization.

◆ CreateEndEffectorVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateEndEffectorVisualization	(	EndEffectorPtr	eef,
		SceneObject::VisualizationType	visu = `SceneObject::Full`
	)

static

Create a visualization of the end effector. The visualization is moved, so that the origin is identical with the coordinate system of the TCP.

◆ CreateGraspSetVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateGraspSetVisualization	(	GraspSetPtr	graspSet,
		EndEffectorPtr	eef,
		const Eigen::Matrix4f &	pose = `Eigen::Matrix4f::Identity()`,
		SceneObject::VisualizationType	visu = `SceneObject::Full`
	)

static

Create a visualization of a set of grasps.

Parameters

graspSet	The grasps to visualize
eef	The visualization of this eef is used to visualize the grasps
pose	The grasp set is visualized relatively to this pose (e.g. use the object position here)
visu	The visualization type of the EEFs.

◆ CreateGraspVisualization() [1/2]

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateGraspVisualization	(	GraspPtr	grasp,
		SoSeparator *	eefVisu,
		const Eigen::Matrix4f &	pose = `Eigen::Matrix4f::Identity()`
	)

static

◆ CreateGraspVisualization() [2/2]

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateGraspVisualization	(	GraspPtr	grasp,
		EndEffectorPtr	eef,
		const Eigen::Matrix4f &	pose = `Eigen::Matrix4f::Identity()`,
		SceneObject::VisualizationType	visu = `SceneObject::Full`
	)

static

◆ CreateGrid()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateGrid	(	float	width,
		float	depth,
		float	widthMosaic,
		float	depthMosaic,
		bool	InvertNormal,
		const char *	pFileName,
		float	Transparency
	)

static

◆ createInstance()

std::shared_ptr< VisualizationFactory > VirtualRobot::CoinVisualizationFactory::createInstance ( void * )

static

Returns: new instance of CoinVisualizationFactory and call SoDB::init() if it has not already been called.

◆ createLine() [1/2]

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createLine	(	const Eigen::Vector3f &	from,
		const Eigen::Vector3f &	to,
		float	width = `1.0f`,
		float	colorR = `0.5f`,
		float	colorG = `0.5f`,
		float	colorB = `0.5f`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ createLine() [2/2]

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createLine	(	const Eigen::Matrix4f &	from,
		const Eigen::Matrix4f &	to,
		float	width = `1.0f`,
		float	colorR = `0.5f`,
		float	colorG = `0.5f`,
		float	colorB = `0.5f`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ createOffscreenRenderer()

SoOffscreenRenderer * VirtualRobot::CoinVisualizationFactory::createOffscreenRenderer	(	unsigned int	width,
		unsigned int	height
	)

static

Create an offscreen renderer object with the given width and height.

See also: renderOffscreen

◆ CreateOOBBVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateOOBBVisualization	(	const MathTools::OOBB &	oobb,
		Color	colorLine = `Color::Gray()`,
		float	lineSize = `4.0f`
	)

static

◆ createPlane()

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createPlane	(	const Eigen::Vector3f &	position,
		const Eigen::Vector3f &	normal,
		float	extend,
		float	transparency,
		float	colorR = `0.5f`,
		float	colorG = `0.5f`,
		float	colorB = `0.5f`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ CreatePlaneVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreatePlaneVisualization	(	const Eigen::Vector3f &	position,
		const Eigen::Vector3f &	normal,
		float	extend,
		float	transparency,
		bool	grid = `true`,
		float	colorR = `0.5f`,
		float	colorG = `0.5f`,
		float	colorB = `0.5f`,
		std::string	textureFile = `std::string()`
	)

static

◆ CreatePointsVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreatePointsVisualization	(	const std::vector< MathTools::ContactPoint > &	points,
		bool	showNormals = `false`
	)

static

◆ CreatePointVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreatePointVisualization	(	const MathTools::ContactPoint &	point,
		bool	showNormals = `false`
	)

static

◆ CreatePolygonVisualization() [1/2]

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreatePolygonVisualization	(	const std::vector< Eigen::Vector3f > &	points,
		VisualizationFactory::Color	colorInner = `VisualizationFactory::Color::Blue()`,
		VisualizationFactory::Color	colorLine = `VisualizationFactory::Color::Black()`,
		float	lineSize = `4.0f`
	)

static

◆ CreatePolygonVisualization() [2/2]

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreatePolygonVisualization	(	const std::vector< Eigen::Vector3f > &	points,
		VisualizationFactory::PhongMaterial	mat,
		VisualizationFactory::Color	colorLine = `VisualizationFactory::Color::Black()`,
		float	lineSize = `4.0f`
	)

static

◆ CreateSegmentVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateSegmentVisualization	(	const MathTools::Segment &	s,
		Color	colorLine = `Color::Gray()`,
		float	lineSize = `4.0f`
	)

static

◆ createSphere()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createSphere	(	float	radius,
		float	colorR = `0.5f`,
		float	colorG = `0.5f`,
		float	colorB = `0.5f`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ CreateSphere() [1/2]

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateSphere	(	float	radius,
		float	colorR,
		float	colorG,
		float	colorB
	)

static

◆ CreateSphere() [2/2]

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateSphere	(	const Eigen::Vector3f &	p,
		float	radius,
		float	colorR,
		float	colorG,
		float	colorB
	)

static

◆ createText()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createText	(	const std::string &	text,
		bool	billboard = `false`,
		float	scaling = `1.0f`,
		Color	c = `Color::Black()`,
		float	offsetX = `20.0f`,
		float	offsetY = `20.0f`,
		float	offsetZ = `0.0f`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ CreateText()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateText	(	const std::string &	s,
		float	offsetX = `20.0f`,
		float	offsetY = `20.0f`,
		float	offsetZ = `0.0f`
	)

static

Text visu. Offsets in mm.

◆ createTorus()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createTorus	(	float	radius,
		float	tubeRadius,
		float	completion = `1`,
		float	colorR = `0.5f`,
		float	colorG = `0.5f`,
		float	colorB = `0.5f`,
		float	transparency = `0.0f`,
		int	sides = `8`,
		int	rings = `30`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ createTrajectory()

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createTrajectory	(	TrajectoryPtr	t,
		Color	colorNode = `Color::Blue()`,
		Color	colorLine = `Color::Gray()`,
		float	nodeSize = `15.0f`,
		float	lineSize = `4.0f`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ createTriMeshModelVisualization() [1/2]

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createTriMeshModelVisualization	(	const TriMeshModelPtr &	model,
		const Eigen::Matrix4f &	pose = `Eigen::Matrix4f::Identity()`,
		float	scaleX = `1.0f`,
		float	scaleY = `1.0f`,
		float	scaleZ = `1.0f`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ createTriMeshModelVisualization() [2/2]

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createTriMeshModelVisualization	(	const TriMeshModelPtr &	model,
		bool	showNormals,
		const Eigen::Matrix4f &	pose,
		bool	showLines = `true`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ createUnitedVisualization()

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createUnitedVisualization ( const std::vector< VisualizationNodePtr > & visualizations ) const

overridevirtual

Create a united visualization. Internally all visualizations are copied and added to one SoSeparator. All visualizations have to be of type CoinVisualizationNode.

Reimplemented from VirtualRobot::VisualizationFactory.

◆ createVertexVisualization()

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createVertexVisualization	(	const Eigen::Vector3f &	position,
		float	radius,
		float	transparency,
		float	colorR = `0.5f`,
		float	colorG = `0.5f`,
		float	colorB = `0.5f`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ CreateVertexVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateVertexVisualization	(	const Eigen::Vector3f &	position,
		float	radius,
		float	transparency,
		float	colorR = `0.5f`,
		float	colorG = `0.5f`,
		float	colorB = `0.5f`
	)

static

◆ CreateVerticesVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateVerticesVisualization	(	const std::vector< Eigen::Vector3f > &	positions,
		float	radius,
		VisualizationFactory::Color	color = `VisualizationFactory::Color::Gray()`
	)

static

◆ createVisualization()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createVisualization ( )

overridevirtual

Create an empty VisualizationNode.

Reimplemented from VirtualRobot::VisualizationFactory.

◆ getCoinVisualization() [1/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	RobotPtr	robot,
		SceneObject::VisualizationType	visuType,
		bool	selectable = `true`
	)

static

Convenient method to retrieve a coin visualization for a robot

◆ getCoinVisualization() [2/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	SceneObjectPtr	object,
		SceneObject::VisualizationType	visuType
	)

static

Convenient method to retrieve a coin visualization for a SceneObject/Obstacle/ManipulationObject

◆ getCoinVisualization() [3/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	VirtualRobot::EndEffector::ContactInfoVector &	contacts,
		float	frictionConeHeight = `30.0f`,
		float	frictionConeRadius = `15.0f`,
		bool	scaleAccordingToApproachDir = `true`
	)

static

Convenient method to retrieve a coin visualization for a set of contacts.

Parameters

contacts	The contacts to be visualized
frictionConeHeight	The height of the friction cone [mm].
frictionConeRadius	The radius of the cone [mm].
scaleAccordingToApproachDir	If true, the parallel component of the contact normal is computed according to the approahcDirection of the contact.

◆ getCoinVisualization() [4/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	EndEffector::ContactInfo &	contact,
		float	frictionConeHeight = `30.0f`,
		float	frictionConeRadius = `15.0f`,
		bool	scaleAccordingToApproachDir = `true`
	)

static

Convenient method to retrieve a coin visualization for a contact.

Parameters

contact	The contact to be visualized
frictionConeHeight	The height of the friction cone [mm].
frictionConeRadius	The radius of the cone [mm].
scaleAccordingToApproachDir	If true, the parallel component of the contact normal is computed according to the approahcDirection of the contact.

◆ getCoinVisualization() [5/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( VisualizationNodePtr visu )

static

◆ getCoinVisualization() [6/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( TriMeshModelPtr model )

static

◆ getCoinVisualization() [7/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	TriMeshModelPtr	model,
		bool	shownormals,
		VisualizationFactory::Color	color = `VisualizationFactory::Color::Gray()`,
		bool	showLines = `true`
	)

static

◆ getCoinVisualization() [8/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	TrajectoryPtr	t,
		Color	colorNode = `Color::Blue()`,
		Color	colorLine = `Color::Gray()`,
		float	nodeSize = `15.0f`,
		float	lineSize = `4.0f`
	)

static

◆ getCoinVisualization() [9/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	WorkspaceRepresentationPtr	reachSpace,
		const VirtualRobot::ColorMap	cm,
		bool	transformToGlobalPose = `true`,
		float	maxZGlobal = `1e10`,
		float	minAngle = `-M_PI`,
		float	maxAngle = `M_PI`
	)

static

Create a visualization of the reachability data.

◆ getCoinVisualization() [10/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	WorkspaceRepresentationPtr	reachSpace,
		VirtualRobot::ColorMap	cm,
		const Eigen::Vector3f &	axis,
		bool	transformToGlobalPose = `true`,
		unsigned char	minValue = `0`,
		float	arrowSize = `0`,
		int	nrRotations = `1`
	)

static

Creates a visualization of the reachability data. For each 3D point, the orientation with maximum entry is determined and visualized as an arrow. The direction of this arrow is aligned to the param axis.

◆ getCoinVisualization() [11/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	WorkspaceRepresentationPtr	reachSpace,
		const Eigen::Vector3f &	fixedEEFOrientationGlobalRPY,
		VirtualRobot::ColorMap	cm = `VirtualRobot::ColorMap(VirtualRobot::ColorMap::eHot)`,
		bool	transformToGlobalPose = `true`,
		const Eigen::Vector3f &	axis = `Eigen::Vector3f(0, 0, 1.0f)`,
		unsigned char	minValue = `0`,
		float	arrowSize = `0`
	)

static

Helper method: Create reach space visualization of a fixed orientation.

◆ getCoinVisualization() [12/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	WorkspaceRepresentationPtr	reachSpace,
		int	a,
		int	b,
		int	c,
		int	nrBestEntries,
		SoSeparator *	arrow,
		const VirtualRobot::ColorMap &	cm,
		bool	transformToGlobalPose,
		unsigned char	minValue
	)

static

helper method: create nrBestEntries arrows in direction of maximum orientation for voxelPosition (a,b,c)

◆ getCoinVisualization() [13/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	TSRConstraintPtr	constraint,
		const Color &	color
	)

static

◆ getCoinVisualization() [14/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	BalanceConstraintPtr	constraint,
		const Color &	color
	)

static

◆ getCoinVisualization() [15/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	PoseConstraintPtr	constraint,
		const Color &	color
	)

static

◆ getCoinVisualization() [16/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	PositionConstraintPtr	constraint,
		const Color &	color
	)

static

◆ getCoinVisualization() [17/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	SupportPolygonPtr	supportPolygon,
		const Color &	color
	)

static

◆ getCoinVisualization() [18/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	WorkspaceGridPtr	reachGrid,
		VirtualRobot::ColorMap	cm,
		bool	transformToGlobalPose = `true`
	)

static

Creates a visualization of the reachability grid.

◆ getCoinVisualization() [19/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization	(	VirtualRobot::WorkspaceRepresentation::WorkspaceCut2DPtr	cutXY,
		VirtualRobot::ColorMap	cm,
		const Eigen::Vector3f &	normal = `Eigen::Vector3f::UnitY()`,
		float	maxEntry = `0.0f`,
		float	minAngle = `-M_PI`,
		float	maxAngle = `M_PI`
	)

static

Create quads according to cutXY plane. Normal can be UnitX, UnitY or UnitZ.

Parameters

maxEntry If 0 the maximal entry of the cut plane is used as refernce.

◆ getColorNode()

SoNode * VirtualRobot::CoinVisualizationFactory::getColorNode ( Color color )

static

Creates a material node.

◆ getMatrixTransform()

SoMatrixTransform * VirtualRobot::CoinVisualizationFactory::getMatrixTransform ( const Eigen::Matrix4f & m )

static

Create a SoMatrixTransform from the given pose

Parameters

m	The pose with translation given in meter.

◆ getMatrixTransformScaleMM2M()

SoMatrixTransform * VirtualRobot::CoinVisualizationFactory::getMatrixTransformScaleMM2M ( const Eigen::Matrix4f & m )

static

Create a SoMatrixTransform from the given pose Converts the pose from MM to M (scales by 0.001)

Parameters

m	The pose with translation given in millimeter.

◆ getName()

std::string VirtualRobot::CoinVisualizationFactory::getName ( )

static

Returns: "inventor"

◆ GetNodeFromPrimitive()

SoNode * VirtualRobot::CoinVisualizationFactory::GetNodeFromPrimitive	(	Primitive::PrimitivePtr	primitive,
		bool	boundingBox,
		Color	color
	)

staticprotected

◆ getSbMatrix()

SbMatrix VirtualRobot::CoinVisualizationFactory::getSbMatrix ( const Eigen::Matrix4f & m )

static

◆ getSbMatrixVec()

SbMatrix VirtualRobot::CoinVisualizationFactory::getSbMatrixVec ( const Eigen::Vector3f & m )

static

◆ getVisualization() [1/2]

VisualizationPtr VirtualRobot::CoinVisualizationFactory::getVisualization ( const std::vector< VisualizationNodePtr > & visus )

virtual

◆ getVisualization() [2/2]

VisualizationPtr VirtualRobot::CoinVisualizationFactory::getVisualization ( VisualizationNodePtr visu )

virtual

◆ getVisualizationFromCoin3DFile()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::getVisualizationFromCoin3DFile	(	const std::string &	filename,
		bool	boundingBox = `false`
	)

virtual

◆ getVisualizationFromFile() [1/2]

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::getVisualizationFromFile	(	const std::string &	filename,
		bool	boundingBox = `false`,
		float	scaleX = `1.0f`,
		float	scaleY = `1.0f`,
		float	scaleZ = `1.0f`
	)

overridevirtual

This method creates a VirtualRobot::CoinVisualizationNode from a given filename. An instance of VirtualRobot::VisualizationNode is returned in case of an occured error.

Parameters

filename	file to load the Coin3D visualization from.
boundingBox	Use bounding box instead of full model.

Returns: instance of VirtualRobot::CoinVisualizationNode upon success and VirtualRobot::VisualizationNode on error.

Reimplemented from VirtualRobot::VisualizationFactory.

◆ getVisualizationFromFile() [2/2]

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::getVisualizationFromFile	(	const std::ifstream &	ifs,
		bool	boundingBox = `false`,
		float	scaleX = `1.0f`,
		float	scaleY = `1.0f`,
		float	scaleZ = `1.0f`
	)

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

◆ getVisualizationFromFileWithAssimp()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::getVisualizationFromFileWithAssimp	(	const std::string &	filename,
		bool	boundingBox = `false`,
		float	scaleX = `1.0f`,
		float	scaleY = `1.0f`,
		float	scaleZ = `1.0f`
	)

virtual

◆ getVisualizationFromPrimitives()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::getVisualizationFromPrimitives	(	const std::vector< Primitive::PrimitivePtr > &	primitives,
		bool	boundingBox = `false`,
		Color	color = `Color::Gray()`
	)

overridevirtual

This method creates a VirtualRobot::CoinVisualizationNode from a given vector of primitives. An instance of VirtualRobot::VisualizationNode is returned in case of an occured error.

Parameters

primitives	vector of primitives to create the visualization from.
boundingBox	Use bounding box instead of full model.

Returns: instance of VirtualRobot::CoinVisualizationNode upon success and VirtualRobot::VisualizationNode on error.

Reimplemented from VirtualRobot::VisualizationFactory.

◆ GetVisualizationFromSoInput()

void VirtualRobot::CoinVisualizationFactory::GetVisualizationFromSoInput	(	SoInput &	soInput,
		VisualizationNodePtr &	visualizationNode,
		bool	boundingBox = `false`,
		bool	freeDuplicateTextures = `true`
	)

staticprotected

This method reads the data from the given soInput and creates a new CoinVisualizationNode with the read Coin model if no error occurred during reading the model. The newly created CoinVisualizationNode is then stored in visualisationNode.

Parameters

soInput	SoInput instance from which the model is read.
visualizationNode	VisualizationNodePtr instance in which the created CoinVisualizationNode is stored.
boundingBox	Use bounding box instead of full model.

◆ getVisualizationFromString()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::getVisualizationFromString	(	const std::string &	modelString,
		bool	boundingBox = `false`
	)

virtual

This method creates a VirtualRobot::CoinVisualizationNode from a given modelString. An instance of VirtualRobot::VisualizationNode is returned in case of an occured error.

Parameters

modelString	string to load the Coin3D visualization from.
boundingBox	Use bounding box instead of full model.

Returns: instance of VirtualRobot::CoinVisualizationNode upon succes and VirtualRobot::VisualizationNode on error.

◆ init()

void VirtualRobot::CoinVisualizationFactory::init	(	int &	argc,
		char *	argv[],
		const std::string &	appName
	)

overridevirtual

Initialises SoDB and SoQt. Sets the COIN_SEPARATE_DIFFUSE_TRANSPARENCY_OVERRIDE environment variable to enable a Coin3D transparency extension.

Reimplemented from VirtualRobot::VisualizationFactory.

◆ IVToolsHelper_ReplaceSpaceWithUnderscore()

static char VirtualRobot::CoinVisualizationFactory::IVToolsHelper_ReplaceSpaceWithUnderscore ( char input )

inlinestaticprotected

◆ RemoveDuplicateTextures()

void VirtualRobot::CoinVisualizationFactory::RemoveDuplicateTextures	(	SoNode *	node,
		const std::string &	currentPath
	)

static

◆ renderOffscreen() [1/2]

bool VirtualRobot::CoinVisualizationFactory::renderOffscreen	(	SoOffscreenRenderer *	renderer,
		RobotNodePtr	camNode,
		SoNode *	scene,
		unsigned char **	buffer,
		float	zNear = `10.f`,
		float	zFar = `100000.f`,
		float	fov = `M_PI / 4`
	)

static

The cam node has to be oriented as follows: The camera is pointing along the positive z axis and the positive x axis is pointing upwards.

Parameters

renderer	The renderer should have been created with the createOffscreenRenderer method
camNode	The node of the robot that defines the position of the camera. Any node of the robot can host a camera.
scene	The scene that should be rendered.
buffer	The result is stored here. The origin of the 2D image is at the left bottom! The resulting buffer has the size widthheight3, with the extends as defined in the createOffscreenRenderer method.
zNear	The near plane's distance.
zFar	The far plane's distance
fov	The fov in rad. (vertical)

Returns: true on success

See also: createOffscreenRenderer

◆ renderOffscreen() [2/2]

bool VirtualRobot::CoinVisualizationFactory::renderOffscreen	(	SoOffscreenRenderer *	renderer,
		SoPerspectiveCamera *	cam,
		SoNode *	scene,
		unsigned char **	buffer
	)

static

Use a custom camera for rendering

Parameters

renderer	The renderer should have been created with the createOffscreenRenderer method
cam	The camera.
scene	The scene that should be rendered.
buffer	The result is stored here. The origin of the 2D image is at the left bottom! The resulting buffer has the size widthheight3, with the extends as defined in the createOffscreenRenderer method.

Returns: true on success

See also: createOffscreenRenderer

◆ renderOffscreenRgbDepthPointcloud() [1/4]

bool VirtualRobot::CoinVisualizationFactory::renderOffscreenRgbDepthPointcloud	(	RobotNodePtr	camNode,
		SoNode *	scene,
		short	width,
		short	height,
		bool	renderRgbImage,
		std::vector< unsigned char > &	rgbImage,
		bool	renderDepthImgae,
		std::vector< float > &	depthImage,
		bool	renderPointcloud,
		std::vector< Eigen::Vector3f > &	pointCloud,
		float	zNear = `10.f`,
		float	zFar = `100000.f`,
		float	vertFov = `M_PI / 4`,
		float	nanValue = `NAN`
	)

static

Renders the given scene from the given cam position and outputs (optionally) the rgb image, depth image and point cloud.

Parameters

camNode	The node of the robot that defines the position of the camera. Any node of the robot can host a camera.
scene	The scene that should be rendered.
width	The used image width. (>0)
height	The used image height. (>0)
renderRgbImage	Whether to output the rgb image.
rgbImage	The rgb image's output parameter.
renderDepthImgae	Whether to output the depth image.
depthImage	The depth image's output parameter.
renderPointcloud	Whether to output the point cloud.
pointCloud	The pointcloud's output parameter.
zNear	The near plane's distance.
zFar	The far plane's distance
vertFov	The fov in rad. (vertical)
nanValue	All values above the zFar value will be mapped on this value (usually nan or 0)

Returns: true on success

◆ renderOffscreenRgbDepthPointcloud() [2/4]

bool VirtualRobot::CoinVisualizationFactory::renderOffscreenRgbDepthPointcloud	(	SoOffscreenRenderer *	renderer,
		RobotNodePtr	camNode,
		SoNode *	scene,
		short	width,
		short	height,
		bool	renderRgbImage,
		std::vector< unsigned char > &	rgbImage,
		bool	renderDepthImage,
		std::vector< float > &	depthImage,
		bool	renderPointcloud,
		std::vector< Eigen::Vector3f > &	pointCloud,
		float	zNear = `10.f`,
		float	zFar = `100000.f`,
		float	vertFov = `M_PI / 4`,
		float	nanValue = `NAN`
	)

static

Renders the given scene from the given cam position and outputs (optionally) the rgb image, depth image and point cloud. This version is much faster if always the same SoOffscreenRenderer is passed in.

Parameters

camNode	The node of the robot that defines the position of the camera. Any node of the robot can host a camera.
scene	The scene that should be rendered.
width	The used image width. (>0)
height	The used image height. (>0)
renderRgbImage	Whether to output the rgb image.
rgbImage	The rgb image's output parameter.
renderDepthImgae	Whether to output the depth image.
depthImage	The depth image's output parameter.
renderPointcloud	Whether to output the point cloud.
pointCloud	The pointcloud's output parameter.
zNear	The near plane's distance.
zFar	The far plane's distance
vertFov	The fov in rad. (vertical)
nanValue	All values above the zFar value will be mapped on this value (usually nan or 0)

Returns: true on success

◆ renderOffscreenRgbDepthPointcloud() [3/4]

bool VirtualRobot::CoinVisualizationFactory::renderOffscreenRgbDepthPointcloud	(	SoOffscreenRenderer *	renderer,
		const Eigen::Matrix4f	camPose,
		SoNode *	scene,
		short	width,
		short	height,
		bool	renderRgbImage,
		std::vector< unsigned char > &	rgbImage,
		bool	renderDepthImage,
		std::vector< float > &	depthImage,
		bool	renderPointcloud,
		std::vector< Eigen::Vector3f > &	pointCloud,
		float	zNear = `10.f`,
		float	zFar = `100000.f`,
		float	vertFov = `M_PI / 4`,
		float	nanValue = `NAN`
	)

static

TODO find way to only render rgb once

◆ renderOffscreenRgbDepthPointcloud() [4/4]

static bool VirtualRobot::CoinVisualizationFactory::renderOffscreenRgbDepthPointcloud	(	RobotNodePtr	camNode,
		SoNode *	scene,
		short	width,
		short	height,
		std::vector< unsigned char > &	rgbImage,
		std::vector< float > &	depthImage,
		std::vector< Eigen::Vector3f > &	pointCloud,
		float	zNear = `10.f`,
		float	zFar = `100000.f`,
		float	vertFov = `M_PI / 4`,
		float	nanValue = `NAN`
	)

inlinestatic

Renders the given scene from the given cam position and outputs the rgb image, depth image and point cloud.

Parameters

camNode	The node of the robot that defines the position of the camera. Any node of the robot can host a camera.
scene	The scene that should be rendered.
width	The used image width. (>0)
height	The used image height. (>0)
renderRgbImage	Whether to output the rgb image.
rgbImage	The rgb image's output parameter.
renderDepthImgae	Whether to output the depth image.
depthImage	The depth image's output parameter.
renderPointcloud	Whether to output the point cloud.
pointCloud	The pointcloud's output parameter.
zNear	The near plane's distance.
zFar	The far plane's distance
vertFov	The fov in rad. (vertical)
nanValue	All values above the zFar value will be mapped on this value (usually nan or 0)

Returns: true on success

Public Types

Public Member Functions

Static Public Member Functions

Static Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ TextureCacheMap

Constructor & Destructor Documentation

◆ CoinVisualizationFactory()

◆ ~CoinVisualizationFactory()

Member Function Documentation

◆ applyDisplacement()

◆ cleanup()

◆ Colorize()

◆ convertSoFileChildren()

◆ copyNode()

◆ Create2DHeightMap()

◆ Create2DMap()

◆ createArrow()

◆ CreateArrow() [1/2]

◆ CreateArrow() [2/2]

◆ CreateBBoxVisualization()

◆ CreateBillboardText()

◆ createBoundingBox()

◆ CreateBoundingBox()

◆ createBox()

◆ createCircle()

◆ createCircleArrow()

◆ createCoinLine()

◆ createCoinPartCircle()

◆ CreateConvexHull2DVisualization()

◆ createCoordSystem()

◆ CreateCoordSystemVisualization()

◆ createCylinder()

◆ CreateCylindroid()

◆ createEllipse()

◆ CreateEllipse()

◆ CreateEndEffectorVisualization()

◆ CreateGraspSetVisualization()

◆ CreateGraspVisualization() [1/2]

◆ CreateGraspVisualization() [2/2]

◆ CreateGrid()

◆ createInstance()

◆ createLine() [1/2]

◆ createLine() [2/2]

◆ createOffscreenRenderer()

◆ CreateOOBBVisualization()

◆ createPlane()

◆ CreatePlaneVisualization()

◆ CreatePointsVisualization()

◆ CreatePointVisualization()

◆ CreatePolygonVisualization() [1/2]

◆ CreatePolygonVisualization() [2/2]

◆ CreateSegmentVisualization()

◆ createSphere()

◆ CreateSphere() [1/2]

◆ CreateSphere() [2/2]

◆ createText()

◆ CreateText()

◆ createTorus()

◆ createTrajectory()

◆ createTriMeshModelVisualization() [1/2]

◆ createTriMeshModelVisualization() [2/2]

◆ createUnitedVisualization()

◆ createVertexVisualization()

◆ CreateVertexVisualization()

◆ CreateVerticesVisualization()

◆ createVisualization()

◆ getCoinVisualization() [1/19]

◆ getCoinVisualization() [2/19]

◆ getCoinVisualization() [3/19]

◆ getCoinVisualization() [4/19]

◆ getCoinVisualization() [5/19]

◆ getCoinVisualization() [6/19]

◆ getCoinVisualization() [7/19]

◆ getCoinVisualization() [8/19]

◆ getCoinVisualization() [9/19]

◆ getCoinVisualization() [10/19]

◆ getCoinVisualization() [11/19]

◆ getCoinVisualization() [12/19]