candlewick::multibody::Visualizer Class Reference

A Pinocchio robot visualizer. The display() function will perform the draw calls. More...

#include <candlewick/multibody/Visualizer.h>

Inheritance diagram for candlewick::multibody::Visualizer:

Classes
struct	Config

Public Member Functions
void	resetCamera ()
void	loadViewerModel () override
	Visualizer (const Config &config, const pin::Model &model, const pin::GeometryModel &visual_model, GuiSystem::GuiBehavior gui_callback)
	Visualizer (const Config &config, const pin::Model &model, const pin::GeometryModel &visual_model, pin::Data &data, pin::GeometryData &visual_data, GuiSystem::GuiBehavior callback)
	Visualizer (const Config &config, const pin::Model &model, const pin::GeometryModel &visual_model)
	Visualizer (const Config &config, const pin::Model &model, const pin::GeometryModel &visual_model, pin::Data &data, pin::GeometryData &visual_data)
	~Visualizer () override
const Device &	device () const
void	setCameraTarget (const Eigen::Ref< const Vector3 > &target) override
void	setCameraPosition (const Eigen::Ref< const Vector3 > &position) override
void	setCameraPose (const Eigen::Ref< const Matrix4 > &pose) override
void	enableCameraControl (bool v) override
void	processEvents ()
bool	shouldExit () const noexcept
void	takeScreenshot (std::string_view filename)
void	startRecording (std::string_view filename)
bool	stopRecording ()
	Stop recording the window.
void	addFrameViz (pin::FrameIndex id, bool show_velocity=true, std::optional< Vector3 > scale=std::nullopt, std::optional< float > vel_scale=std::nullopt)
	Add visualization for a given frame.
void	setFrameExternalForce (pin::FrameIndex frame_id, const pin::Force &force, Uint32 lifetime=5u)
	Add visualization for the body forces expressed at the local frame of a joint.
void	removeFramesViz ()
	Remove all frame visualizations.
void	clean () override
	Clear objects.

Public Attributes
entt::registry	registry
RenderContext	renderer
GuiSystem	guiSystem
RobotScene	robotScene
DebugScene	debugScene
CylindricalCamera	controller
CameraControlParams	cameraParams
bool	show_our_about = false
bool	show_imgui_about = false
AABB	worldSceneBounds

Static Public Attributes
static constexpr Radf	DEFAULT_FOV = 55.0_degf

Detailed Description

A Pinocchio robot visualizer. The display() function will perform the draw calls.

This visualizer is synchronous. The window is only updated when display() is called.

Note

So far, this visualizer class does not support displaying visual and collision geometries simulatenously.

Todo

Add support for displaying visual and collision geometries at the same time.

Constructor & Destructor Documentation

Visualizer() [1/4]

candlewick::multibody::Visualizer::Visualizer	(	const Config &	config,
		const pin::Model &	model,
		const pin::GeometryModel &	visual_model,
		GuiSystem::GuiBehavior	gui_callback )

Visualizer() [2/4]

candlewick::multibody::Visualizer::Visualizer	(	const Config &	config,
		const pin::Model &	model,
		const pin::GeometryModel &	visual_model,
		pin::Data &	data,
		pin::GeometryData &	visual_data,
		GuiSystem::GuiBehavior	callback )

Visualizer() [3/4]

candlewick::multibody::Visualizer::Visualizer ( const Config & config, const pin::Model & model, const pin::GeometryModel & visual_model )

inline

Visualizer() [4/4]

candlewick::multibody::Visualizer::Visualizer ( const Config & config, const pin::Model & model, const pin::GeometryModel & visual_model, pin::Data & data, pin::GeometryData & visual_data )

inline

~Visualizer()

candlewick::multibody::Visualizer::~Visualizer ( )

override

Member Function Documentation

addFrameViz()

void candlewick::multibody::Visualizer::addFrameViz	(	pin::FrameIndex	id,
		bool	show_velocity = true,
		std::optional< Vector3 >	scale = std::nullopt,
		std::optional< float >	vel_scale = std::nullopt )

Add visualization for a given frame.

Parameters

id	Frame index
show_velocity	Whether to show frame velocity (as an arrow)
scale	Assign a scale for the triad (optional, a default value will be assigned instead).
vel_scale	Velocity arrow scale.

Note

For the velocity to show up, first-order pinocchio::forwardKinematics() must be called with the joint velocity passed in. Since display() with the joint configuration argument q calls zeroth-order forward kinematics internally, you should call first-order forward kinematics, then display() without arguments instead.

clean()

void candlewick::multibody::Visualizer::clean ( )

inlineoverride

Clear objects.

device()

const Device & candlewick::multibody::Visualizer::device ( ) const

inline

enableCameraControl()

void candlewick::multibody::Visualizer::enableCameraControl ( bool v )

inlineoverride

loadViewerModel()

void candlewick::multibody::Visualizer::loadViewerModel ( )

override

processEvents()

void candlewick::multibody::Visualizer::processEvents

(

)

removeFramesViz()

void candlewick::multibody::Visualizer::removeFramesViz

(

)

Remove all frame visualizations.

resetCamera()

void candlewick::multibody::Visualizer::resetCamera

(

)

setCameraPose()

void candlewick::multibody::Visualizer::setCameraPose ( const Eigen::Ref< const Matrix4 > & pose )

override

setCameraPosition()

void candlewick::multibody::Visualizer::setCameraPosition ( const Eigen::Ref< const Vector3 > & position )

override

setCameraTarget()

void candlewick::multibody::Visualizer::setCameraTarget ( const Eigen::Ref< const Vector3 > & target )

override

setFrameExternalForce()

void candlewick::multibody::Visualizer::setFrameExternalForce	(	pin::FrameIndex	frame_id,
		const pin::Force &	force,
		Uint32	lifetime = 5u )

Add visualization for the body forces expressed at the local frame of a joint.

Parameters

frame_id	Model frame index.
force	Force value.
lifetime	Force arrow lifetime.

shouldExit()

bool candlewick::multibody::Visualizer::shouldExit ( ) const

inlinenodiscardnoexcept

startRecording()

void candlewick::multibody::Visualizer::startRecording

(

std::string_view

filename

)

stopRecording()

bool candlewick::multibody::Visualizer::stopRecording

(

)

Stop recording the window.

Returns

Whether a recording was actually stopped.

takeScreenshot()

void candlewick::multibody::Visualizer::takeScreenshot

(

std::string_view

filename

)

Member Data Documentation

cameraParams

CameraControlParams candlewick::multibody::Visualizer::cameraParams

controller

CylindricalCamera candlewick::multibody::Visualizer::controller

debugScene

DebugScene candlewick::multibody::Visualizer::debugScene

DEFAULT_FOV

Radf candlewick::multibody::Visualizer::DEFAULT_FOV = 55.0_degf

staticconstexpr

guiSystem

GuiSystem candlewick::multibody::Visualizer::guiSystem

registry

entt::registry candlewick::multibody::Visualizer::registry

renderer

RenderContext candlewick::multibody::Visualizer::renderer

robotScene

RobotScene candlewick::multibody::Visualizer::robotScene

show_imgui_about

bool candlewick::multibody::Visualizer::show_imgui_about = false

show_our_about

bool candlewick::multibody::Visualizer::show_our_about = false

worldSceneBounds

AABB candlewick::multibody::Visualizer::worldSceneBounds

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

• src/candlewick/multibody/Visualizer.h