From ec32168b41b25a6b04c61a2d1a6f737825e5cd1d Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Mon, 7 Jun 2021 08:11:43 +0200
Subject: [PATCH] arviz client: path element
---
.../RobotAPI/components/ArViz/CMakeLists.txt | 2 +
.../components/ArViz/Client/elements/Path.cpp | 51 ++++++++++++++++
.../components/ArViz/Client/elements/Path.h | 59 +++++++++++++++++++
3 files changed, 112 insertions(+)
create mode 100644 source/RobotAPI/components/ArViz/Client/elements/Path.cpp
create mode 100644 source/RobotAPI/components/ArViz/Client/elements/Path.h
diff --git a/source/RobotAPI/components/ArViz/CMakeLists.txt b/source/RobotAPI/components/ArViz/CMakeLists.txt
index 66c7aa4c3..62686bc88 100644
--- a/source/RobotAPI/components/ArViz/CMakeLists.txt
+++ b/source/RobotAPI/components/ArViz/CMakeLists.txt
@@ -15,6 +15,7 @@ set(SOURCES
Client/elements/Mesh.cpp
Client/elements/Robot.cpp
Client/elements/RobotHand.cpp
+ Client/elements/Path.cpp
Client/drawer/ArVizDrawerBase.cpp
Client/ScopedClient.cpp
@@ -79,6 +80,7 @@ set(HEADERS
Client/elements/PointCloud.h
Client/elements/Robot.h
Client/elements/RobotHand.h
+ Client/elements/Path.h
Client/drawer/ArVizDrawerBase.h
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 000000000..0a88d0893
--- /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 000000000..50eec6abe
--- /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
+
+
+
+
+
--
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