Arviz Path visu: added points that will be drawn in corners

source/RobotAPI/components/ArViz/Coin/VisualizationPath.cpp

 #include "VisualizationPath.h"
 
+#include <algorithm>
+
 #include <Inventor/SbVec3f.h>
 #include <Inventor/nodes/SoCoordinate3.h>
 #include <Inventor/nodes/SoDrawStyle.h>
 #include <Inventor/nodes/SoLineSet.h>
+#include <Inventor/nodes/SoPointSet.h>
 
 namespace armarx::viz::coin
 {
@@ -27,19 +30,36 @@ namespace armarx::viz::coin
 
         node->addChild(coordinate3);
         node->addChild(lineSep);
+
+        // points (use the following, if the points should be drawn in a different color)
+
+        // pclMat = new SoMaterial;
+
+        // SoMaterialBinding* pclMatBind = new SoMaterialBinding;
+        // pclMatBind->value = SoMaterialBinding::PER_PART;
+
+        pclCoords = new SoCoordinate3;
+        pclStyle = new SoDrawStyle;
+
+        // node->addChild(pclMat);
+        // node->addChild(pclMatBind);
+        node->addChild(pclCoords);
+        node->addChild(pclStyle);
+        node->addChild(new SoPointSet);
     }
 
     bool VisualizationPath::update(ElementType const& element)
     {
         // set position
-        coordinate3->point.setValuesPointer(element.points.size(), reinterpret_cast<const float*>(element.points.data()));
+        coordinate3->point.setValuesPointer(element.points.size(),
+                                            reinterpret_cast<const float*>(element.points.data()));
 
         // set color
-        const auto lineColor = element.lineColor;
+        const auto lineColor = element.color;
 
         constexpr float toUnit = 1.0F / 255.0F;
 
-        const auto color = SbVec3f(lineColor.r, lineColor.g, lineColor.b) * toUnit;
+        const auto color         = SbVec3f(lineColor.r, lineColor.g, lineColor.b) * toUnit;
         const float transparency = 1.0F - static_cast<float>(lineColor.a) * toUnit;
 
         lineMaterial->diffuseColor.setValue(color);
@@ -58,6 +78,20 @@ namespace armarx::viz::coin
         const int pointSize = static_cast<int>(element.points.size());
         lineSet->numVertices.set1Value(0, pointSize);
 
+        // points at each node
+        // const std::vector<SbVec3f> colorData(element.points.size(), color);
+
+        // pclMat->diffuseColor.setValuesPointer(colorData.size(),
+        //                                       reinterpret_cast<const float*>(colorData.data()));
+        // pclMat->ambientColor.setValuesPointer(colorData.size(),
+        //                                       reinterpret_cast<const float*>(colorData.data()));
+        // pclMat->transparency = transparency;
+
+        pclCoords->point.setValuesPointer(element.points.size(),
+                                          reinterpret_cast<const float*>(element.points.data()));
+
+        pclStyle->pointSize = element.lineWidth + 5;
+
         return true;
     }
 } // namespace armarx::viz::coin
\ No newline at end of file

source/RobotAPI/components/ArViz/Coin/VisualizationPath.h

@@ -39,9 +39,17 @@ namespace armarx::viz::coin
 
         bool update(ElementType const& element);
 
+        /// lines
         SoCoordinate3* coordinate3;
         SoDrawStyle* lineStyle;
         SoLineSet* lineSet;
         SoMaterial* lineMaterial;
+
+
+        /// points
+        // SoMaterial* pclMat;
+        SoCoordinate3* pclCoords;
+        SoDrawStyle* pclStyle;
+
     };
 }  // namespace armarx::viz::coin