Add DebugDrawerHelper::drawSphere

source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.cpp

@@ -94,3 +94,8 @@ Vector3Ptr DebugDrawerHelper::makeGlobalDirection(const Eigen::Vector3f& directi
 {
     return new Vector3(math::Helpers::TransformDirection(rn->getGlobalPose(), direction));
 }
+
+void armarx::DebugDrawerHelper::drawSphere(const std::string& name, const Eigen::Vector3f& position, float size, const armarx::DrawColor& color)
+{
+    debugDrawerPrx->setSphereVisu(layerName, name, makeGlobal(position), color, size);
+}

source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.h

@@ -59,6 +59,8 @@ namespace armarx
 
         void drawArrow(const std::string& name, const Eigen::Vector3f& pos, const Eigen::Vector3f& direction, const DrawColor& color, float length, float width);
 
+        void drawSphere(const std::string& name, const Eigen::Vector3f& position, float size, const DrawColor& color);
+
         PosePtr makeGlobal(const Eigen::Matrix4f& pose);
         Vector3Ptr makeGlobal(const Eigen::Vector3f& position);
         Vector3Ptr makeGlobalDirection(const Eigen::Vector3f& direction);