From 1d58922b5261d8d5608ba2d2bde7054b21f9eb80 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Thu, 30 Dec 2021 10:03:42 +0100
Subject: [PATCH] ArViz: Add direction method for Cylinder
---
source/RobotAPI/components/ArViz/Client/Elements.cpp | 7 +++++++
source/RobotAPI/components/ArViz/Client/Elements.h | 2 ++
2 files changed, 9 insertions(+)
diff --git a/source/RobotAPI/components/ArViz/Client/Elements.cpp b/source/RobotAPI/components/ArViz/Client/Elements.cpp
index ab0998d12..f479f4ef5 100644
--- a/source/RobotAPI/components/ArViz/Client/Elements.cpp
+++ b/source/RobotAPI/components/ArViz/Client/Elements.cpp
@@ -88,6 +88,13 @@ namespace armarx::viz
return *this;
}
+ Cylinder& Cylinder::direction(Eigen::Vector3f direction)
+ {
+ orientation(Convert::directionToQuaternion(direction));
+
+ return *this;
+ }
+
Arrow& Arrow::direction(Eigen::Vector3f dir)
{
return orientation(Convert::directionToQuaternion(dir));
diff --git a/source/RobotAPI/components/ArViz/Client/Elements.h b/source/RobotAPI/components/ArViz/Client/Elements.h
index 0a871fe79..5c5e137bb 100644
--- a/source/RobotAPI/components/ArViz/Client/Elements.h
+++ b/source/RobotAPI/components/ArViz/Client/Elements.h
@@ -88,6 +88,8 @@ namespace armarx::viz
}
Cylinder& fromTo(Eigen::Vector3f from, Eigen::Vector3f to);
+
+ Cylinder& direction(Eigen::Vector3f direction);
};
--
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