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.

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