Add viz::Path and viz::Line to ArViz example

source/RobotAPI/components/ArViz/Example/ArVizExample.cpp

@@ -31,6 +31,7 @@
 #include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
 #include <RobotAPI/components/ArViz/Client/Client.h>
+#include <RobotAPI/components/ArViz/Client/elements/Line.h>
 
 
 namespace armarx
@@ -170,7 +171,37 @@ namespace armarx
             layer.add(arrow);
         }
 
+        std::vector<Eigen::Vector3f> pathPoints {
+            {  -800,   0,  500 },
+            { -1000,   0,  500 },
+            { -1000, 200,  500 },
+        };
+        Eigen::Vector3f additionalPoint = {-1000, 200, 700};
+        {
+            viz::Path path = viz::Path("path")
+                    .color(simox::Color::lime())
+                    .width(10);
+
+            path.points(pathPoints);
+            path.addPoint(additionalPoint);
+
+            layer.add(path);
+        }
+
+        pathPoints.push_back(additionalPoint);
+        {
+            const Eigen::Vector3f offset = - 300 * Eigen::Vector3f::UnitX();
+
+            for (size_t i = 0; i < pathPoints.size() - 1; i += 2)
+            {
+                viz::Line line = viz::Line("line " + std::to_string(i) + " -> " + std::to_string(i+1))
+                        .fromTo(pathPoints.at(i) + offset, pathPoints.at(i+1) + offset)
+                        .color(simox::Color::magenta()).lineWidth(10)
+                        ;
 
+                layer.add(line);
+            }
+        }
     }