PointCloudWorld Class Reference

Inheritance diagram for PointCloudWorld:

Collaboration diagram for PointCloudWorld:

Public Types
enum	PointSamplingMode { SAMPLE_ON_ROBOT = 0, SAMPLE_IN_BOX = 1 }

Public Member Functions
	PointCloudWorld (simulation::WorldPtr world, dynamics::SkeletonPtr robot)
void	setPointSamplingMode (PointSamplingMode mode)
PointSamplingMode	getPointSamplingMode () const
void	customPreStep () override
	If update() is not overloaded, this function will be called at the beginning of each simulation step. More...
dynamics::VisualAspect *	getPointCloudVisualAspect ()
dynamics::VisualAspect *	getVoxelGridVisualAspect ()
void	setUpdate (bool update)
bool	getUpdate () const
std::shared_ptr< dynamics::PointCloudShape >	getPointCloudShape ()
std::shared_ptr< const dynamics::PointCloudShape >	getPointCloudShape () const
Public Member Functions inherited from dart::gui::osg::RealTimeWorldNode
	RealTimeWorldNode (const std::shared_ptr< dart::simulation::World > &world=nullptr, const ::osg::ref_ptr< osgShadow::ShadowTechnique > &shadower=nullptr, double targetFrequency=60.0, double targetRealTimeFactor=1.0)
	Construct a world node that will attempt to run a simulation with close to real-time playback. More...
void	setTargetFrequency (double targetFrequency)
	Set the target refresh rate frequency.
double	getTargetFrequency () const
	Get the target refresh rate frequency.
void	setTargetRealTimeFactor (double targetRTF)
	Set the target real time factor.
double	getTargetRealTimeFactor () const
	Get the target real time factor.
double	getLastRealTimeFactor () const
	Get the real time factor that was achieved in the last refresh cycle. More...
double	getLowestRealTimeFactor () const
	Get the lowest real time factor that has been hit during the simulation.
double	getHighestRealTimeFactor () const
	Get the highest real time factor that has been hit during the simulation.
void	refresh () override
	This function is called at the beginning of each rendering cycle. More...
Public Member Functions inherited from dart::gui::osg::WorldNode
	WorldNode (std::shared_ptr< dart::simulation::World > world=nullptr, ::osg::ref_ptr< osgShadow::ShadowTechnique > shadowTechnique=nullptr)
	Default constructor Shadows are disabled by default.
void	setWorld (std::shared_ptr< dart::simulation::World > newWorld)
	Set the World that this WorldNode is associated with.
std::shared_ptr< dart::simulation::World >	getWorld () const
	Get the World that this WorldNode is associated with.
virtual void	customPreRefresh ()
	If update() is not overloaded, this function will be called at the beginning of each rendering cycle. More...
virtual void	customPostRefresh ()
	If update() is not overloaded, this function will be called at the end of each rendering cycle. More...
virtual void	customPostStep ()
	If update() is not overloaded, this function will be called at the end of each simulation step. More...
bool	isSimulating () const
	Returns true iff the WorldNode is stepping between render cycles.
void	simulate (bool on)
	Pass in true to take steps between render cycles; pass in false to turn off steps between render cycles. More...
void	setNumStepsPerCycle (std::size_t steps)
	Set the number of steps to take between each render cycle (only if the simulation is not paused)
std::size_t	getNumStepsPerCycle () const
	Get the number of steps that will be taken between each render cycle (only if the simulation is not paused)
bool	isShadowed () const
	Get whether the WorldNode is casting shadows.
void	setShadowTechnique (::osg::ref_ptr< osgShadow::ShadowTechnique > shadowTechnique=nullptr)
	Set the ShadowTechnique If you wish to disable shadows, pass a nullptr.
::osg::ref_ptr< osgShadow::ShadowTechnique >	getShadowTechnique () const
	Get the current ShadowTechnique nullptr is there are no shadows.
static ::osg::ref_ptr< osgShadow::ShadowTechnique >	createDefaultShadowTechnique (const Viewer *viewer)
	Helper function to create a default ShadowTechnique given a Viewer the default ShadowTechnique is ShadowMap.
virtual	~WorldNode ()
	Destructor.

Protected Member Functions
octomap::Pointcloud	generatePointCloudOnRobot (std::size_t numPoints)
octomap::Pointcloud	generatePointCloudInBox (std::size_t numPoints, const Eigen::Vector3d &min=Eigen::Vector3d::Constant(-0.5), const Eigen::Vector3d &max=Eigen::Vector3d::Constant(0.5))
std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > >	generatePointCloudColors (const octomap::Pointcloud &pointCloud)
Protected Member Functions inherited from dart::gui::osg::WorldNode
virtual void	setupViewer ()
	Called when this world gets added to an dart::gui::osg::Viewer. More...
void	clearChildUtilizationFlags ()
	Clear the utilization flags of each child node.
void	clearUnusedNodes ()
	Clear any nodes whose utilization flags were not triggered on this render cycle.
void	refreshSkeletons ()
	Refresh all the Skeleton rendering data.
void	refreshSimpleFrames ()
	Refresh all the custom Frame rendering data.
void	refreshBaseFrameNode (dart::dynamics::Frame *frame)
void	refreshShapeFrameNode (dart::dynamics::Frame *frame)

Protected Attributes
PointSamplingMode	mSampleingMode
SkeletonPtr	mRobot
std::shared_ptr< dynamics::PointCloudShape >	mPointCloudShape
std::shared_ptr< dynamics::VoxelGridShape >	mVoxelGridShape
dynamics::VisualAspect *	mPointCloudVisualAspect
dynamics::VisualAspect *	mVoxelGridVisualAspect
bool	mUpdate {true}
Protected Attributes inherited from dart::gui::osg::RealTimeWorldNode
bool	mFirstRefresh
	Reset each time the simulation is paused.
::osg::Timer	mRefreshTimer
	Keeps track of the time between refreshes.
double	mTargetRealTimeLapse
	The target for how much time should elapse between refreshes.
double	mTargetSimTimeLapse
	The target for how much simulation time should elapse between refreshes.
double	mLastRealTimeFactor
	The RTF that was achieved in the last refresh cycle.
double	mLowestRealTimeFactor
	The lowest RTF that has been achieved.
double	mHighestRealTimeFactor
	The highest RTF that has been achieved.
Protected Attributes inherited from dart::gui::osg::WorldNode
NodeMap	mFrameToNode
	Map from Frame pointers to FrameNode pointers.
std::shared_ptr< dart::simulation::World >	mWorld
	The World that this WorldNode is associated with.
bool	mSimulating
	True iff simulation is active.
std::size_t	mNumStepsPerCycle
	Number of steps to take between rendering cycles.
Viewer *	mViewer
	Viewer that this WorldNode is inside of.
::osg::ref_ptr<::osg::Group >	mNormalGroup
	OSG group for non-shadowed objects.
::osg::ref_ptr<::osgShadow::ShadowedScene >	mShadowedGroup
	OSG group for shadowed objects.
bool	mShadowed
	Whether the shadows are enabled.

Additional Inherited Members
Protected Types inherited from dart::gui::osg::WorldNode
using	NodeMap = std::unordered_map< dart::dynamics::Frame *, ::osg::ref_ptr< ShapeFrameNode > >

Member Function Documentation

customPreStep()

void PointCloudWorld::customPreStep ( )

inlineoverridevirtual

If update() is not overloaded, this function will be called at the beginning of each simulation step.

This function can be overloaded to customize the behavior of each step. The default behavior is to do nothing, so overloading this function will not interfere with the usual update() operation. This will not get called if the simulation is paused.

Reimplemented from dart::gui::osg::WorldNode.

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

• examples/point_cloud/main.cpp