Attach this to a Viewer in order to visualize the support polygon of a Skeleton. More...
#include <SupportPolygonVisual.hpp>
Inheritance diagram for dart::gui::osg::SupportPolygonVisual:
Collaboration diagram for dart::gui::osg::SupportPolygonVisual:
Public Member Functions | |
| SupportPolygonVisual (const dart::dynamics::SkeletonPtr &skeleton=nullptr, double elevation=0.02) | |
| Visualize the support polygon of an entire Skeleton. | |
| SupportPolygonVisual (const dart::dynamics::SkeletonPtr &skeleton, std::size_t treeIndex, double elevation=0.02) | |
| Visualize the support polygon of a specific tree in a Skeleton. | |
| void | setSkeleton (const dart::dynamics::SkeletonPtr &skeleton) |
| Change the Skeleton that is being visualized. | |
| dart::dynamics::SkeletonPtr | getSkeleton () const |
| Get the Skeleton associated with this visual. | |
| void | visualizeWholeSkeleton () |
| Visualize the entire Skeleton. | |
| void | visualizeTree (std::size_t treeIndex) |
| Visualize a specific tree in the Skeleton. | |
| void | setDisplayElevation (double elevation) |
| Change the elevation height at which the polygon is displayed. | |
| double | getDisplayElevation () const |
| Get the elevation of display for the support polygon. | |
| void | displayPolygon (bool display) |
| Display the support polygon. | |
| bool | isPolygonDisplayed () const |
| Returns true if the support polygon is being displayed. | |
| void | setPolygonColor (const Eigen::Vector4d &color) |
| Set the color of the support polygon. | |
| Eigen::Vector4d | getPolygonColor () const |
| Get the color of the support polygon. | |
| void | displayCentroid (bool display) |
| Display the centroid. | |
| bool | isCentroidDisplayed () const |
| Returns true if the centroid is being displayed. | |
| void | setCentroidRadius (double radius) |
| Set the radius of the centroid visualization. | |
| double | getCentroidRadius () const |
| Get the radius of the centroid visualization. | |
| void | displayCenterOfMass (bool display) |
| Display the center of mass. | |
| bool | isCenterOfMassDisplayed () const |
| Returns true if the center of mass is being displayed. | |
| void | setCenterOfMassRadius (double radius) |
| Set the radius of the center of mass visualization. | |
| double | getCenterOfMassRadius () const |
| Get the radius of the center of mass visualization. | |
| void | setValidCOMColor (const Eigen::Vector4d &color) |
| Set the color that will be used for the center of mass if its projection is on the support polygon. | |
| const Eigen::Vector4d & | getValidCOMColor () const |
| Get the color that will be used for the center of mass if its projection is on the support polygon. | |
| void | setInvalidCOMColor (const Eigen::Vector4d &color) |
| Set the color that will be used for the center of mass if its projection is NOT on the support polygon. | |
| const Eigen::Vector4d & | getInvalidCOMColor () const |
| Get the color that will be used for the center of mass if its projection is NOT on the support polygon. | |
| void | refresh () override final |
| Update the support polygon visual. | |
 Public Member Functions inherited from dart::gui::osg::ViewerAttachment | |
| ViewerAttachment () | |
| Default constructor. | |
| virtual | ~ViewerAttachment () |
| Virtual destructor. | |
| Viewer * | getViewer () |
| const Viewer * | getViewer () const |
Protected Member Functions | |
| void | initialize () |
| Initialize the memory used by this visual. | |
| Protected Member Functions inherited from dart::gui::osg::ViewerAttachment | |
| virtual void | customAttach (Viewer *newViewer) |
| This function will be called by attach(Viewer*) so you can do customized setup when the Viewer changes. More... | |
| virtual void | attach (Viewer *newViewer) |
| This function will get called when the visual is attached to a new Viewer. More... | |
Protected Attributes | |
| dart::dynamics::WeakSkeletonPtr | mSkeleton |
| Skeleton for this visual. | |
| std::size_t | mTreeIndex |
| Tree index for this visual. | |
| double | mElevation |
| Elevation that this visual should use. | |
| bool | mDisplayPolygon |
| Whether to display the polygon. | |
| bool | mDisplayCentroid |
| Whether to display the centroid. | |
| dart::dynamics::SimpleFramePtr | mCentroid |
| SimpleFrame for the centroid. | |
| double | mCentroidRadius |
| Radius to be used by the centroid. | |
| bool | mDisplayCOM |
| Whether to display the center of mass. | |
| dart::dynamics::SimpleFramePtr | mCom |
| SimpleFrame for the center of mass. | |
| double | mComRadius |
| Radius to be used by the center of mass. | |
| Eigen::Vector4d | mValidColor |
| Color to be used when COM is valid. | |
| Eigen::Vector4d | mInvalidColor |
| Color to be used when COM is invalid. | |
| ::osg::ref_ptr<::osg::Vec4Array > | mPolygonColor |
| Color for the polygon. | |
| ::osg::ref_ptr<::osg::Geode > | mPolygonGeode |
| Geode to hold the polygon. | |
| ::osg::ref_ptr<::osg::Geometry > | mPolygonGeom |
| Geometry to describe the polygon. | |
| ::osg::ref_ptr<::osg::Vec3Array > | mVertices |
| Vertices of the polygon. | |
| ::osg::ref_ptr<::osg::DrawElementsUShort > | mFaces |
| Faces of the polygon. | |
| ::osg::ref_ptr< ShapeFrameNode > | mCentroidNode |
| Node to render the centroid. | |
| ::osg::ref_ptr< ShapeFrameNode > | mComNode |
| Node to render the COM. | |
Detailed Description
Attach this to a Viewer in order to visualize the support polygon of a Skeleton.
The documentation for this class was generated from the following files:
- dart/gui/osg/SupportPolygonVisual.hpp
- dart/gui/osg/SupportPolygonVisual.cpp
