From f35e35e6ebf9435cc008a18b033a49cb2dae7ecc Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Mon, 7 Jun 2021 08:10:46 +0200
Subject: [PATCH] arviz: coin implementation for path
---
.../RobotAPI/components/ArViz/CMakeLists.txt | 2 +
.../ArViz/Coin/RegisterVisualizationTypes.cpp | 4 +-
.../ArViz/Coin/VisualizationPath.cpp | 63 +++++++++++++++++++
.../components/ArViz/Coin/VisualizationPath.h | 47 ++++++++++++++
4 files changed, 115 insertions(+), 1 deletion(-)
create mode 100644 source/RobotAPI/components/ArViz/Coin/VisualizationPath.cpp
create mode 100644 source/RobotAPI/components/ArViz/Coin/VisualizationPath.h
diff --git a/source/RobotAPI/components/ArViz/CMakeLists.txt b/source/RobotAPI/components/ArViz/CMakeLists.txt
index 23bc56875..66c7aa4c3 100644
--- a/source/RobotAPI/components/ArViz/CMakeLists.txt
+++ b/source/RobotAPI/components/ArViz/CMakeLists.txt
@@ -21,6 +21,7 @@ set(SOURCES
Coin/ElementVisualizer.cpp
Coin/VisualizationRobot.cpp
+ Coin/VisualizationPath.cpp
Coin/VisualizationObject.cpp
Coin/Visualizer.cpp
@@ -49,6 +50,7 @@ set(HEADERS
Coin/VisualizationEllipsoid.h
Coin/VisualizationSphere.h
Coin/VisualizationPose.h
+ Coin/VisualizationPath.h
Coin/VisualizationLine.h
Coin/VisualizationText.h
Coin/VisualizationArrow.h
diff --git a/source/RobotAPI/components/ArViz/Coin/RegisterVisualizationTypes.cpp b/source/RobotAPI/components/ArViz/Coin/RegisterVisualizationTypes.cpp
index 33febe24b..5ca14001a 100644
--- a/source/RobotAPI/components/ArViz/Coin/RegisterVisualizationTypes.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/RegisterVisualizationTypes.cpp
@@ -15,13 +15,14 @@
#include "VisualizationMesh.h"
#include "VisualizationRobot.h"
#include "VisualizationObject.h"
+#include "VisualizationPath.h"
void armarx::viz::CoinVisualizer::registerVisualizationTypes()
{
using namespace armarx::viz::coin;
- elementVisualizers.reserve(15);
+ elementVisualizers.reserve(16);
registerVisualizerFor<VisualizationBox>();
registerVisualizerFor<VisualizationCylinder>();
@@ -38,4 +39,5 @@ void armarx::viz::CoinVisualizer::registerVisualizationTypes()
registerVisualizerFor<VisualizationMesh>();
registerVisualizerFor<VisualizationRobot>();
registerVisualizerFor<VisualizationObject>();
+ registerVisualizerFor<VisualizationPath>();
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationPath.cpp b/source/RobotAPI/components/ArViz/Coin/VisualizationPath.cpp
new file mode 100644
index 000000000..3018a3af5
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationPath.cpp
@@ -0,0 +1,63 @@
+#include "VisualizationPath.h"
+
+#include <Inventor/SbVec3f.h>
+#include <Inventor/nodes/SoCoordinate3.h>
+#include <Inventor/nodes/SoDrawStyle.h>
+#include <Inventor/nodes/SoLineSet.h>
+
+namespace armarx::viz::coin
+{
+
+ VisualizationPath::VisualizationPath()
+ {
+ coordinate3 = new SoCoordinate3;
+
+ // create line around polygon
+ SoSeparator* lineSep = new SoSeparator;
+
+ lineMaterial = new SoMaterial;
+ lineSep->addChild(lineMaterial);
+ lineSep->addChild(coordinate3);
+
+ lineStyle = new SoDrawStyle();
+ lineSep->addChild(lineStyle);
+
+ lineSet = new SoLineSet;
+ lineSep->addChild(lineSet);
+
+ node->addChild(coordinate3);
+ node->addChild(lineSep);
+ }
+
+ bool VisualizationPath::update(ElementType const& element)
+ {
+ // set position
+ coordinate3->point.setValuesPointer(element.points.size(), reinterpret_cast<const float*>(element.points.data()));
+
+ // set color
+ const auto lineColor = element.lineColor;
+
+ constexpr float toUnit = 1.0F / 255.0F;
+
+ 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);
+ lineMaterial->ambientColor.setValue(color);
+ lineMaterial->transparency.setValue(transparency);
+
+ if (element.lineWidth > 0.0F)
+ {
+ lineStyle->lineWidth.setValue(element.lineWidth);
+ }
+ else
+ {
+ lineStyle->style = SoDrawStyleElement::INVISIBLE;
+ }
+
+ const int pointSize = static_cast<int>(element.points.size());
+ lineSet->numVertices.set1Value(0, pointSize);
+
+ return true;
+ }
+} // namespace armarx::viz::coin
\ No newline at end of file
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationPath.h b/source/RobotAPI/components/ArViz/Coin/VisualizationPath.h
new file mode 100644
index 000000000..e1e446bbe
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationPath.h
@@ -0,0 +1,47 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include "ElementVisualizer.h"
+
+#include <RobotAPI/interface/ArViz/Elements.h>
+
+class SoCoordinate3;
+class SoDrawStyle;
+class SoLineSet;
+
+namespace armarx::viz::coin
+{
+ struct VisualizationPath : TypedElementVisualization<SoSeparator>
+ {
+ using ElementType = data::ElementPath;
+
+ VisualizationPath();
+
+ bool update(ElementType const& element);
+
+ SoCoordinate3* coordinate3;
+ SoDrawStyle* lineStyle;
+ SoLineSet* lineSet;
+ SoMaterial* lineMaterial;
+ };
+} // namespace armarx::viz::coin
--
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