diff --git a/source/RobotAPI/components/ArViz/CMakeLists.txt b/source/RobotAPI/components/ArViz/CMakeLists.txt
index 23bc568751839f9758cd09597b2b4f58b8b5e419..9a5a3adcbfedd3a756b8231b61db7591ad66047b 100644
--- a/source/RobotAPI/components/ArViz/CMakeLists.txt
+++ b/source/RobotAPI/components/ArViz/CMakeLists.txt
@@ -15,12 +15,16 @@ set(SOURCES
Client/elements/Mesh.cpp
Client/elements/Robot.cpp
Client/elements/RobotHand.cpp
+ Client/elements/Line.cpp
+ Client/elements/Path.cpp
+
Client/drawer/ArVizDrawerBase.cpp
Client/ScopedClient.cpp
Coin/ElementVisualizer.cpp
Coin/VisualizationRobot.cpp
+ Coin/VisualizationPath.cpp
Coin/VisualizationObject.cpp
Coin/Visualizer.cpp
@@ -49,6 +53,7 @@ set(HEADERS
Coin/VisualizationEllipsoid.h
Coin/VisualizationSphere.h
Coin/VisualizationPose.h
+ Coin/VisualizationPath.h
Coin/VisualizationLine.h
Coin/VisualizationText.h
Coin/VisualizationArrow.h
@@ -77,6 +82,8 @@ set(HEADERS
Client/elements/PointCloud.h
Client/elements/Robot.h
Client/elements/RobotHand.h
+ Client/elements/Line.h
+ Client/elements/Path.h
Client/drawer/ArVizDrawerBase.h
diff --git a/source/RobotAPI/components/ArViz/Client/elements/Line.cpp b/source/RobotAPI/components/ArViz/Client/elements/Line.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..985162f1726a66c88c4a310e6b287641294fa9f9
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Client/elements/Line.cpp
@@ -0,0 +1,20 @@
+#include "Line.h"
+
+#include "ArmarXCore/interface/core/BasicVectorTypesHelpers.h"
+
+namespace armarx::viz
+{
+ Line& Line::lineWidth(float w)
+ {
+ data_->lineWidth = w;
+
+ return *this;
+ }
+ Line& Line::fromTo(Eigen::Vector3f from, Eigen::Vector3f to)
+ {
+ data_->from = ToBasicVectorType(from);
+ data_->to = ToBasicVectorType(to);
+
+ return *this;
+ }
+} // namespace armarx::viz
\ No newline at end of file
diff --git a/source/RobotAPI/components/ArViz/Client/elements/Line.h b/source/RobotAPI/components/ArViz/Client/elements/Line.h
new file mode 100644
index 0000000000000000000000000000000000000000..6f6d9427e05b9d91606e8ecdfa8a2164f4847515
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Client/elements/Line.h
@@ -0,0 +1,38 @@
+/*
+ * 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 "RobotAPI/components/ArViz/Client/elements/ElementOps.h"
+#include <RobotAPI/interface/ArViz/Elements.h>
+
+namespace armarx::viz
+{
+ class Line : public ElementOps<Line, data::ElementLine>
+ {
+ public:
+ using ElementOps::ElementOps;
+
+ Line& lineWidth(float w);
+
+ Line& fromTo(Eigen::Vector3f from, Eigen::Vector3f to);
+ };
+} // namespace armarx::viz
diff --git a/source/RobotAPI/components/ArViz/Client/elements/Path.cpp b/source/RobotAPI/components/ArViz/Client/elements/Path.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0a88d089382eebb915104c24ee41339a18dd2f29
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Client/elements/Path.cpp
@@ -0,0 +1,51 @@
+#include "Path.h"
+
+namespace armarx::viz
+{
+
+ Path& Path::clear()
+ {
+ data_->points.clear();
+ return *this;
+ }
+
+ Path& Path::lineColor(Color color)
+ {
+ data_->lineColor = color;
+
+ return *this;
+ }
+
+ Path& Path::lineColorGlasbeyLUT(std::size_t id, int alpha)
+ {
+ return lineColor(Color::fromRGBA(simox::color::GlasbeyLUT::at(id, alpha)));
+ }
+
+ Path& Path::lineWidth(float w)
+ {
+ data_->lineWidth = w;
+
+ return *this;
+ }
+
+ Path& Path::points(std::vector<Eigen::Vector3f> const& ps)
+ {
+ auto& points = data_->points;
+ points.clear();
+ points.reserve(ps.size());
+ for (auto& p : ps)
+ {
+ points.push_back(armarx::Vector3f{p.x(), p.y(), p.z()});
+ }
+
+ return *this;
+ }
+
+ Path& Path::addPoint(Eigen::Vector3f p)
+ {
+ data_->points.push_back(armarx::Vector3f{p.x(), p.y(), p.z()});
+
+ return *this;
+ }
+
+} // namespace armarx::viz
\ No newline at end of file
diff --git a/source/RobotAPI/components/ArViz/Client/elements/Path.h b/source/RobotAPI/components/ArViz/Client/elements/Path.h
new file mode 100644
index 0000000000000000000000000000000000000000..50eec6abe454bbf56bc45053c4d35f5e41ca5bc6
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Client/elements/Path.h
@@ -0,0 +1,59 @@
+
+
+/*
+ * 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 "RobotAPI/components/ArViz/Client/elements/ElementOps.h"
+#include <RobotAPI/interface/ArViz/Elements.h>
+
+namespace armarx::viz
+{
+ class Path : public ElementOps<Path, data::ElementPath>
+ {
+ public:
+ using ElementOps::ElementOps;
+
+ Path& clear();
+
+ Path& lineColor(Color color);
+
+ template<class...Ts>
+ Path& lineColor(Ts&& ...ts)
+ {
+ return lineColor({std::forward<Ts>(ts)...});
+ }
+
+ Path& lineColorGlasbeyLUT(std::size_t id, int alpha = 255);
+
+ Path& lineWidth(float w);
+
+ Path& points(std::vector<Eigen::Vector3f> const& ps);
+
+ Path& addPoint(Eigen::Vector3f p);
+ };
+} // namespace armarx::viz
+
+
+
+
+
diff --git a/source/RobotAPI/components/ArViz/Coin/RegisterVisualizationTypes.cpp b/source/RobotAPI/components/ArViz/Coin/RegisterVisualizationTypes.cpp
index 33febe24be91fd428f06762cbcfc6d7e48f101a0..5ca14001aff6c7be187ad4c7736e86fd3ab6b3c6 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 0000000000000000000000000000000000000000..3018a3af51e25222b97c0c60ed06fea65a8c5822
--- /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 0000000000000000000000000000000000000000..e1e446bbe66bc49a6d0c4bdf1999c7f0615f06ec
--- /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
diff --git a/source/RobotAPI/interface/ArViz/Elements.ice b/source/RobotAPI/interface/ArViz/Elements.ice
index 0adf0413b30d5985851b86dab12580d0a314acbe..1c00dd4e630208a79852ea3d18d96da8a501f7d0 100644
--- a/source/RobotAPI/interface/ArViz/Elements.ice
+++ b/source/RobotAPI/interface/ArViz/Elements.ice
@@ -100,6 +100,14 @@ module data
float lineWidth = 0.0f;
};
+ class ElementPath extends Element
+ {
+ Vector3fSeq points;
+
+ Color lineColor;
+ float lineWidth = 10.0f;
+ };
+
class ElementArrow extends Element
{
float length = 100.0f;