diff --git a/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.cpp b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.cpp
index ef4c6d5a64a8a0dcc49ba960babc9c0c74848348..1a75392e053c3b162321270d2e07f1a13f5434fd 100644
--- a/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.cpp
+++ b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.cpp
@@ -194,6 +194,15 @@ namespace armarx
boundingBox.getMax() - boundingBox.getMin(), color, ignoreLengthScale);
}
+ void DebugDrawerTopic::removeBox(const DebugDrawerTopic::VisuID& id)
+ {
+ if (enabled())
+ {
+ topic->removeBoxVisu(layer(id), id.name);
+ }
+ }
+
+
void DebugDrawerTopic::drawCylinder(const DebugDrawerTopic::VisuID& id,
const Eigen::Vector3f& center, const Eigen::Vector3f& direction, float radius, float length,
const DrawColor& color, bool ignoreLengthScale)
@@ -228,6 +237,16 @@ namespace armarx
}
}
+
+ void DebugDrawerTopic::removeCylinder(const DebugDrawerTopic::VisuID& id)
+ {
+ if (enabled())
+ {
+ topic->removeCylinderVisu(layer(id), id.name);
+ }
+ }
+
+
void DebugDrawerTopic::drawSphere(
const DebugDrawerTopic::VisuID& id,
const Eigen::Vector3f& center, float radius,
@@ -242,6 +261,15 @@ namespace armarx
}
+ void DebugDrawerTopic::removeSphere(const DebugDrawerTopic::VisuID& id)
+ {
+ if (enabled())
+ {
+ topic->removeSphereVisu(layer(id), id.name);
+ }
+ }
+
+
void DebugDrawerTopic::drawArrow(
const VisuID& id,
const Eigen::Vector3f& position, const Eigen::Vector3f& direction, float length,
@@ -255,6 +283,7 @@ namespace armarx
}
}
+
void DebugDrawerTopic::drawArrowFromTo(
const VisuID& id,
const Eigen::Vector3f& from, const Eigen::Vector3f& to,
@@ -268,6 +297,7 @@ namespace armarx
}
}
+
void DebugDrawerTopic::removeArrow(const DebugDrawerTopic::VisuID& id)
{
if (enabled())
@@ -299,6 +329,16 @@ namespace armarx
}
}
+
+ void DebugDrawerTopic::removePolygon(const DebugDrawerTopic::VisuID& id)
+ {
+ if (enabled())
+ {
+ topic->removePolygonVisu(layer(id), id.name);
+ }
+ }
+
+
void DebugDrawerTopic::drawLine(
const VisuID& id, const Eigen::Vector3f& from, const Eigen::Vector3f& to,
float width, const DrawColor& color, bool ignoreLengthScale)
@@ -312,6 +352,16 @@ namespace armarx
}
}
+
+ void DebugDrawerTopic::removeLine(const DebugDrawerTopic::VisuID& id)
+ {
+ if (enabled())
+ {
+ topic->removeLineVisu(layer(id), id.name);
+ }
+ }
+
+
void DebugDrawerTopic::drawLineSet(
const VisuID& id, const DebugDrawerLineSet& lineSet, bool ignoreLengthScale)
{
@@ -337,6 +387,7 @@ namespace armarx
}
}
+
void DebugDrawerTopic::drawLineSet(
const VisuID& id, const std::vector<Eigen::Vector3f>& points,
float width, const DrawColor& color, bool ignoreLengthScale)
@@ -385,12 +436,22 @@ namespace armarx
}
+ void DebugDrawerTopic::removeLineSet(const DebugDrawerTopic::VisuID& id)
+ {
+ if (enabled())
+ {
+ topic->removeLineSetVisu(layer(id), id.name);
+ }
+ }
+
+
void DebugDrawerTopic::drawPose(
const VisuID& id, const Eigen::Matrix4f& pose, bool ignoreLengthScale)
{
drawPose(id, pose, _poseScale, ignoreLengthScale);
}
+
void DebugDrawerTopic::drawPose(
const VisuID& id,
const Eigen::Vector3f& pos, const Eigen::Quaternionf& ori,
@@ -399,6 +460,7 @@ namespace armarx
drawPose(id, math::Helpers::Pose(pos, ori), _poseScale, ignoreLengthScale);
}
+
void DebugDrawerTopic::drawPose(
const VisuID& id, const Eigen::Matrix4f& pose, float scale,
bool ignoreLengthScale)
@@ -419,6 +481,7 @@ namespace armarx
}
+
void DebugDrawerTopic::drawPose(
const VisuID& id, const Eigen::Vector3f& pos, const Eigen::Quaternionf& ori,
float scale, bool ignoreLengthScale)
@@ -426,6 +489,7 @@ namespace armarx
drawPose(id, math::Helpers::Pose(pos, ori), scale, ignoreLengthScale);
}
+
void DebugDrawerTopic::removePose(const DebugDrawerTopic::VisuID& id)
{
if (enabled())
@@ -445,6 +509,7 @@ namespace armarx
}
}
+
void DebugDrawerTopic::updateRobotPose(
const DebugDrawerTopic::VisuID& id,
const Eigen::Matrix4f& pose, bool ignoreScale)
@@ -455,6 +520,7 @@ namespace armarx
}
}
+
void DebugDrawerTopic::updateRobotPose(
const DebugDrawerTopic::VisuID& id,
const Eigen::Vector3f& pos, const Eigen::Quaternionf& ori, bool ignoreScale)
@@ -462,6 +528,7 @@ namespace armarx
updateRobotPose(id, math::Helpers::Pose(pos, ori), ignoreScale);
}
+
void DebugDrawerTopic::updateRobotConfig(
const DebugDrawerTopic::VisuID& id, const std::map<std::string, float>& config)
{
@@ -471,6 +538,7 @@ namespace armarx
}
}
+
void DebugDrawerTopic::updateRobotColor(
const DebugDrawerTopic::VisuID& id, const DrawColor& color)
{
@@ -480,6 +548,7 @@ namespace armarx
}
}
+
void DebugDrawerTopic::updateRobotNodeColor(
const DebugDrawerTopic::VisuID& id,
const std::string& nodeName, const DrawColor& color)
@@ -490,6 +559,7 @@ namespace armarx
}
}
+
void DebugDrawerTopic::removeRobot(const DebugDrawerTopic::VisuID& id)
{
if (enabled())
@@ -562,6 +632,7 @@ namespace armarx
topic->setTriMeshVisu(layer(id), id.name, dd);
}
+
void DebugDrawerTopic::drawTriMeshAsPolygons(const VisuID& id,
const VirtualRobot::TriMeshModel& trimesh,
const DrawColor& colorFace, float lineWidth, const DrawColor& colorEdge,
@@ -571,6 +642,7 @@ namespace armarx
colorFace, lineWidth, colorEdge, ignoreLengthScale);
}
+
void DebugDrawerTopic::drawTriMeshAsPolygons(const VisuID& id,
const VirtualRobot::TriMeshModel& trimesh, const Eigen::Matrix4f& pose,
const DrawColor& colorFace, float lineWidth, const DrawColor& colorEdge,
@@ -608,6 +680,7 @@ namespace armarx
}
}
+
void DebugDrawerTopic::drawTriMeshAsPolygons(
const VisuID& id,
const VirtualRobot::TriMeshModel& trimesh,
diff --git a/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h
index b95de6d43258d5a34246a639f6735ea4ee1ee1b4..d77b4908094e30e3ebe1a5efba89aad6e2d9638c 100644
--- a/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h
+++ b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h
@@ -320,6 +320,9 @@ namespace armarx
const DrawColor& color = DEFAULTS.colorBox,
bool ignoreLengthScale = false);
+ /// Remove a box.
+ void removeBox(const VisuID& id);
+
/**
* @brief Draw a cylinder with center and direction.
@@ -349,6 +352,9 @@ namespace armarx
const DrawColor& color = DEFAULTS.colorCylinder,
bool ignoreLengthScale = false);
+ /// Remove a cylinder.
+ void removeCylinder(const VisuID& id);
+
/// Draw a sphere.
void drawSphere(
@@ -357,6 +363,9 @@ namespace armarx
const DrawColor& color = DEFAULTS.colorSphere,
bool ignoreLengthScale = false);
+ /// Remove a sphere.
+ void removeSphere(const VisuID& id);
+
/// Draw an arrow with position (start) and direction.
void drawArrow(
@@ -384,6 +393,9 @@ namespace armarx
float lineWidth = 0, const DrawColor& colorEdge = DEFAULTS.colorPolygonEdge,
bool ignoreLengthScale = false);
+ /// Remove a polygon.
+ void removePolygon(const VisuID& id);
+
/// Draw a line from start to end.
void drawLine(
@@ -392,6 +404,9 @@ namespace armarx
float width, const DrawColor& color = DEFAULTS.colorLine,
bool ignoreLengthScale = false);
+ /// Remove a line.
+ void removeLine(const VisuID& id);
+
/// Draw a line set.
void drawLineSet(
@@ -421,6 +436,9 @@ namespace armarx
const std::vector<float>& intensitiesB,
bool ignoreLengthScale = false);
+ /// Remove a line set.
+ void removeLineSet(const VisuID& id);
+
// POSE
@@ -439,7 +457,7 @@ namespace armarx
float scale,
bool ignoreLengthScale = false);
- /// Remove a pose visualization.
+ /// Remove a pose.
void removePose(const VisuID& id);