diff --git a/GeometricPlanning/visualization.cpp b/GeometricPlanning/visualization.cpp
index 7dc943d41c6bb581b8936ec7eb34557b3742ee8a..c6ed9054b619add1c90718d6381f6f4013ba443a 100644
--- a/GeometricPlanning/visualization.cpp
+++ b/GeometricPlanning/visualization.cpp
@@ -25,27 +25,20 @@ namespace simox::geometric_planning
constexpr std::size_t numberOfCircleParts = 20;
inline const simox::Color DefaultColor = simox::Color::blue();
- constexpr float
- scaleColor(const auto colorVal)
- {
- return colorVal / 255.f;
- }
-
+
namespace detail
{
SoNode*
visualizePathLine(const geometric_planning::ParametricPath& path)
{
- const auto startPos = path.getPose(path.parameterRange().min);
- const auto endPos = path.getPose(path.parameterRange().max);
+ const auto startPos = path.getPosition(path.parameterRange().min);
+ const auto endPos = path.getPosition(path.parameterRange().max);
return VirtualRobot::CoinVisualizationFactory::createCoinLine(
- startPos.matrix(),
- endPos.matrix(),
+ startPos,
+ endPos,
defaultWidth,
- scaleColor(DefaultColor.r),
- scaleColor(DefaultColor.g),
- scaleColor(DefaultColor.b));
+ DefaultColor);
}
@@ -65,9 +58,7 @@ namespace simox::geometric_planning
circleSegment->getRadius(),
circleCompletion,
defaultWidth,
- scaleColor(DefaultColor.r),
- scaleColor(DefaultColor.g),
- scaleColor(DefaultColor.b),
+ DefaultColor,
numberOfCircleParts);
diff --git a/MotionPlanning/examples/PlatformDemo/PlatformWindow.cpp b/MotionPlanning/examples/PlatformDemo/PlatformWindow.cpp
index 7fc3a40a556f8cbaf385377a00fe6bcb91c7a99c..d03f473961fff33e8a958bc0c7521083479aaa5a 100644
--- a/MotionPlanning/examples/PlatformDemo/PlatformWindow.cpp
+++ b/MotionPlanning/examples/PlatformDemo/PlatformWindow.cpp
@@ -321,19 +321,12 @@ void PlatformWindow::selectColModelEnv(const std::string &name)
this->colModelEnv = scene->getSceneObjectSet(name);
}
-void PlatformWindow::updateDistVisu(const Eigen::Vector3f &a, const Eigen::Vector3f &b)
+void PlatformWindow::updateDistVisu(const Eigen::Vector3f &from, const Eigen::Vector3f &to)
{
distSep->removeAllChildren();
if (UI.checkBoxShowDistance->isChecked())
{
- Eigen::Matrix4f from;
- Eigen::Matrix4f to;
- from.setIdentity();
- to.setIdentity();
- from.block(0,3,3,1) = a;
- to.block(0,3,3,1) = b;
-
- SoNode * c = CoinVisualizationFactory::createCoinLine(from, to, 5.0f, 1.0f, 0.2f, 0.2f);
+ SoNode * c = CoinVisualizationFactory::createCoinLine(from, to, 5.0f, VirtualRobot::CoinVisualizationFactory::Color(1.0f, 0.2f, 0.2f));
distSep->addChild(c);
}
}
@@ -612,6 +605,3 @@ void PlatformWindow::redraw()
this->update();
viewer->scheduleRedraw();
}
-
-
-
diff --git a/VirtualRobot/Import/URDF/SimoxURDFFactory.cpp b/VirtualRobot/Import/URDF/SimoxURDFFactory.cpp
index 03c1cb01c3de4bd835f6868eea84777a042a1a24..524f04e86b73adecf1706b073e9a9efcdda7abb9 100644
--- a/VirtualRobot/Import/URDF/SimoxURDFFactory.cpp
+++ b/VirtualRobot/Import/URDF/SimoxURDFFactory.cpp
@@ -22,6 +22,7 @@
#include <VirtualRobot/Nodes/RobotNodeRevoluteFactory.h>
#include <VirtualRobot/RuntimeEnvironment.h>
+#include <SimoxUtility/color.h>
using namespace std;
@@ -301,7 +302,7 @@ namespace VirtualRobot
}
- VirtualRobot::VisualizationNodePtr SimoxURDFFactory::convertVisu(std::shared_ptr<urdf::Geometry> g, urdf::Pose& pose, const std::string& basePath)
+ VirtualRobot::VisualizationNodePtr SimoxURDFFactory::convertVisu(const std::shared_ptr<urdf::Geometry>& g, const urdf::Pose& pose, const std::string& basePath)
{
const float scale = 1000.0f; // mm
@@ -313,19 +314,25 @@ namespace VirtualRobot
return res;
}
+ const auto kit_green = ::simox::Color::kit_green(128);
+ constexpr float alpha = 0.5;
+ const VisualizationFactory::Color color(kit_green.r / 255., kit_green.g / 255., kit_green.b / 255, alpha);
+
+
+
switch (g->type)
{
case urdf::Geometry::BOX:
{
std::shared_ptr<urdf::Box> b = std::dynamic_pointer_cast<urdf::Box>(g);
- res = factory->createBox(b->dim.x * scale, b->dim.y * scale, b->dim.z * scale);
+ res = factory->createBox(b->dim.x * scale, b->dim.y * scale, b->dim.z * scale, color);
}
break;
case urdf::Geometry::SPHERE:
{
std::shared_ptr<urdf::Sphere> s = std::dynamic_pointer_cast<urdf::Sphere>(g);
- res = factory->createSphere(s->radius * scale);
+ res = factory->createSphere(s->radius * scale, color);
}
break;
@@ -333,7 +340,7 @@ namespace VirtualRobot
case urdf::Geometry::CYLINDER:
{
std::shared_ptr<urdf::Cylinder> c = std::dynamic_pointer_cast<urdf::Cylinder>(g);
- res = factory->createCylinder(c->radius * scale, c->length * scale);
+ res = factory->createCylinder(c->radius * scale, c->length * scale, color);
}
break;
@@ -342,7 +349,7 @@ namespace VirtualRobot
{
std::shared_ptr<urdf::Mesh> m = std::dynamic_pointer_cast<urdf::Mesh>(g);
std::string filename = getFilename(m->filename, basePath);
- res = factory->getVisualizationFromFile(filename, false, m->scale.x, m->scale.y, m->scale.z);
+ res = factory->getVisualizationFromFile(filename, false, m->scale.x * scale, m->scale.y * scale, m->scale.z * scale);
}
break;
@@ -358,7 +365,8 @@ namespace VirtualRobot
// inventor and urdf differ in the conventions for cylinders
p = p * MathTools::axisangle2eigen4f(Eigen::Vector3f::UnitX(), M_PI_2);
}
- factory->applyDisplacement(res, p);
+ // factory->applyDisplacement(res, p);
+ res->setLocalPose(p);
}
return res;
diff --git a/VirtualRobot/Import/URDF/SimoxURDFFactory.h b/VirtualRobot/Import/URDF/SimoxURDFFactory.h
index 37b44cc7e042ff4372e61ae758585ee1e0a16b9c..308a35d6b2aebbc98a3ccd39af871c51f313269b 100644
--- a/VirtualRobot/Import/URDF/SimoxURDFFactory.h
+++ b/VirtualRobot/Import/URDF/SimoxURDFFactory.h
@@ -79,7 +79,7 @@ namespace VirtualRobot
RobotNodePtr createBodyNode(const std::string& name, RobotPtr robot, std::shared_ptr<urdf::Link> urdfBody, const std::string& basePath, bool useColModelsIfNoVisuModel = true);
RobotNodePtr createJointNode(RobotPtr robot, std::shared_ptr<urdf::Joint> urdfJoint);
Eigen::Matrix4f convertPose(const urdf::Pose& p) const;
- VirtualRobot::VisualizationNodePtr convertVisu(std::shared_ptr<urdf::Geometry> g, urdf::Pose& pose, const std::string& basePath);
+ VirtualRobot::VisualizationNodePtr convertVisu(const std::shared_ptr<urdf::Geometry>& g, const urdf::Pose& pose, const std::string& basePath);
VirtualRobot::VisualizationNodePtr convertVisuArray(std::vector<std::shared_ptr<urdf::Visual> > visu_array, const std::string& basePath);
VirtualRobot::VisualizationNodePtr convertVisuArray(std::vector<std::shared_ptr<urdf::Collision> > visu_array, const std::string& basePath);
std::string getFilename(const std::string& f, const std::string& basePath);
diff --git a/VirtualRobot/Nodes/RobotNode.cpp b/VirtualRobot/Nodes/RobotNode.cpp
index e660813af4584d71cabf34c9a7e63e76f6c00840..8298691bfc22221a3daf83ba7a676d53841392a0 100644
--- a/VirtualRobot/Nodes/RobotNode.cpp
+++ b/VirtualRobot/Nodes/RobotNode.cpp
@@ -12,6 +12,7 @@
#include <VirtualRobot/XML/BaseIO.h>
#include <Eigen/Core>
+#include <Eigen/src/Geometry/Transform.h>
#include <filesystem>
#include <algorithm>
@@ -821,17 +822,18 @@ namespace VirtualRobot
}
// create visu
- Eigen::Matrix4f i = Eigen::Matrix4f::Identity();
-
if (!localTransformation.isIdentity())
{
VisualizationNodePtr visualizationNode1;
+
if (parRN && parRN->getVisualization())
{
// add to parent node (pre joint trafo moves with parent!)
//visualizationNode1 = visualizationFactory->createLine(parRN->postJointTransformation, parRN->postJointTransformation*localTransformation);
- visualizationNode1 = visualizationFactory->createLine(Eigen::Matrix4f::Identity(), localTransformation);
+ const Eigen::Vector3f localTrafoPos = Eigen::Isometry3f{localTransformation}.translation();
+
+ visualizationNode1 = visualizationFactory->createLine(Eigen::Vector3f::Zero(), localTrafoPos);
if (visualizationNode1)
{
@@ -840,7 +842,9 @@ namespace VirtualRobot
}
else
{
- visualizationNode1 = visualizationFactory->createLine(localTransformation.inverse(), i);
+ const Eigen::Vector3f localTrafoInvPos = Eigen::Isometry3f{localTransformation}.inverse().translation();
+
+ visualizationNode1 = visualizationFactory->createLine(localTrafoInvPos, Eigen::Vector3f::Zero());
if (visualizationNode1)
{
diff --git a/VirtualRobot/Obstacle.cpp b/VirtualRobot/Obstacle.cpp
index 2f1121b9a902b2d65b300f6dfabc366c8c6538d7..f0811cc3707055e0650fe4ca65ce76c20b5bb59f 100644
--- a/VirtualRobot/Obstacle.cpp
+++ b/VirtualRobot/Obstacle.cpp
@@ -86,7 +86,7 @@ namespace VirtualRobot
VisualizationNodePtr visu = visualizationFactory->getVisualizationFromPrimitives(primitives,false,color);
*/
- VisualizationNodePtr visu = visualizationFactory->createBox(width, height, depth, color.r, color.g, color.b);
+ VisualizationNodePtr visu = visualizationFactory->createBox(width, height, depth, color);
if (!visu)
{
@@ -132,7 +132,7 @@ namespace VirtualRobot
return result;
}
- VisualizationNodePtr visu = visualizationFactory->createSphere(radius, color.r, color.g, color.b);
+ VisualizationNodePtr visu = visualizationFactory->createSphere(radius, color);
/*std::vector<Primitive::PrimitivePtr> primitives;
Primitive::PrimitivePtr p(new Primitive::Sphere(radius));
@@ -184,7 +184,7 @@ namespace VirtualRobot
return result;
}
- VisualizationNodePtr visu = visualizationFactory->createCylinder(radius, height, color.r, color.g, color.b);
+ VisualizationNodePtr visu = visualizationFactory->createCylinder(radius, height, color);
/*std::vector<Primitive::PrimitivePtr> primitives;
Primitive::PrimitivePtr p(new Primitive::Cylinder(radius, height));
@@ -343,5 +343,3 @@ namespace VirtualRobot
}
} // namespace
-
-
diff --git a/VirtualRobot/SceneObject.cpp b/VirtualRobot/SceneObject.cpp
index 3e62d88805693bc740d5ffb565c1d0b8c94c914b..734ec473976bfd677d1607a1853d0a6e8c878e24 100644
--- a/VirtualRobot/SceneObject.cpp
+++ b/VirtualRobot/SceneObject.cpp
@@ -320,8 +320,8 @@ namespace VirtualRobot
// create visu
if (!comModel)
{
- VisualizationNodePtr comModel1 = visualizationFactory->createSphere(7.05f, 1.0f, 0.2f, 0.2f);
- VisualizationNodePtr comModel2 = visualizationFactory->createBox(10.0f, 10.0f, 10.0f, 0.2f, 0.2f, 1.0f);
+ VisualizationNodePtr comModel1 = visualizationFactory->createSphere(7.05f, VisualizationFactory::Color(1.0f, 0.2f, 0.2f));
+ VisualizationNodePtr comModel2 = visualizationFactory->createBox(10.0f, 10.0f, 10.0f, VisualizationFactory::Color(0.2f, 0.2f, 1.0f));
std::vector<VisualizationNodePtr> v;
v.push_back(comModel1);
v.push_back(comModel2);
@@ -1535,8 +1535,10 @@ namespace VirtualRobot
}
else
{
+ const auto color = simox::color::Color::kit_blue(128);
+
VisualizationFactoryPtr visualizationFactory = VisualizationFactory::first(NULL);
- setCollisionModel(std::make_shared<CollisionModel>(visualizationFactory->getVisualizationFromPrimitives(primitives),
+ setCollisionModel(std::make_shared<CollisionModel>(visualizationFactory->getVisualizationFromPrimitives(primitives, false, color),
getName() + "_PrimitiveModel", CollisionCheckerPtr()));
}
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
index 7981e51f177f2d0b3ec9a9cf5ad3f4136497ee02..7a4e74191658a561faadbe05d921508a8340f759 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
@@ -142,7 +142,7 @@ namespace VirtualRobot
* \param boundingBox Use bounding box instead of full model.
* \return instance of VirtualRobot::CoinVisualizationNode upon success and VirtualRobot::VisualizationNode on error.
*/
- VisualizationNodePtr CoinVisualizationFactory::getVisualizationFromPrimitives(const std::vector<Primitive::PrimitivePtr>& primitives, bool boundingBox, Color color)
+ VisualizationNodePtr CoinVisualizationFactory::getVisualizationFromPrimitives(const std::vector<Primitive::PrimitivePtr>& primitives, bool boundingBox,const Color& color)
{
VisualizationNodePtr visualizationNode = VisualizationNodePtr(new VisualizationNode());
SoSeparator* coinVisualization = new SoSeparator();
@@ -174,7 +174,7 @@ namespace VirtualRobot
return visualizationNode;
}
- SoNode* CoinVisualizationFactory::GetNodeFromPrimitive(Primitive::PrimitivePtr primitive, bool boundingBox, Color color)
+ SoNode* CoinVisualizationFactory::GetNodeFromPrimitive(Primitive::PrimitivePtr primitive, bool boundingBox,const Color& color)
{
SoSeparator* coinVisualization = new SoSeparator;
SoNode* c = getColorNode(color);
@@ -509,7 +509,7 @@ namespace VirtualRobot
return coinFactory;
}
- VirtualRobot::VisualizationNodePtr CoinVisualizationFactory::createBox(float width, float height, float depth, float colorR, float colorG, float colorB)
+ VirtualRobot::VisualizationNodePtr CoinVisualizationFactory::createBox(float width, float height, float depth, const Color& color)
{
SoSeparator* s = new SoSeparator();
s->ref();
@@ -520,8 +520,9 @@ namespace VirtualRobot
SoMaterial* m = new SoMaterial();
s->addChild(m);
- m->ambientColor.setValue(colorR, colorG, colorB);
- m->diffuseColor.setValue(colorR, colorG, colorB);
+ m->ambientColor.setValue(color.r, color.g, color.b);
+ m->diffuseColor.setValue(color.r, color.g, color.b);
+ m->transparency.setValue(color.transparency);
SoCube* c = new SoCube();
s->addChild(c);
@@ -534,7 +535,7 @@ namespace VirtualRobot
return visualizationNode;
}
- SoNode* CoinVisualizationFactory::createCoinLine(const Eigen::Matrix4f& from, const Eigen::Matrix4f& to, float width, float colorR, float colorG, float colorB)
+ SoNode* CoinVisualizationFactory::createCoinLine(const Eigen::Vector3f& from, const Eigen::Vector3f& to, float width, const Color& color)
{
SoSeparator* s = new SoSeparator();
s->ref();
@@ -544,20 +545,13 @@ namespace VirtualRobot
SoMaterial* m = new SoMaterial();
s->addChild(m);
- m->ambientColor.setValue(colorR, colorG, colorB);
- m->diffuseColor.setValue(colorR, colorG, colorB);
+ m->ambientColor.setValue(color.r, color.g, color.b);
+ m->diffuseColor.setValue(color.r, color.g, color.b);
// create line
- float x = from(0, 3);
- float y = from(1, 3);
- float z = from(2, 3);
- float x2 = to(0, 3);
- float y2 = to(1, 3);
- float z2 = to(2, 3);
-
SbVec3f points[2];
- points[0].setValue(x2, y2, z2);
- points[1].setValue(x, y, z);
+ points[0].setValue(to.x(), to.y(), to.z());
+ points[1].setValue(from.x(), from.y(), from.z());
SoDrawStyle* lineSolutionStyle = new SoDrawStyle();
lineSolutionStyle->lineWidth.setValue(width);
@@ -576,7 +570,7 @@ namespace VirtualRobot
return s;
}
- SoNode* CoinVisualizationFactory::createCoinPartCircle(float radius, float circleCompletion, float width, float colorR, float colorG, float colorB, size_t numberOfCircleParts, float offset)
+ SoNode* CoinVisualizationFactory::createCoinPartCircle(float radius, float circleCompletion, float width, const Color& color, size_t numberOfCircleParts, float offset)
{
SoSeparator* s = new SoSeparator();
s->ref();
@@ -586,8 +580,8 @@ namespace VirtualRobot
SoMaterial* m = new SoMaterial();
s->addChild(m);
- m->ambientColor.setValue(colorR, colorG, colorB);
- m->diffuseColor.setValue(colorR, colorG, colorB);
+ m->ambientColor.setValue(color.r, color.g, color.b);
+ m->diffuseColor.setValue(color.r, color.g, color.b);
SoCoordinate3* coordinate3 = new SoCoordinate3;
circleCompletion = std::min<float>(1.0f, circleCompletion);
circleCompletion = std::max<float>(-1.0f, circleCompletion);
@@ -627,34 +621,24 @@ namespace VirtualRobot
return s;
}
- VisualizationNodePtr CoinVisualizationFactory::createLine(const Eigen::Matrix4f& from, const Eigen::Matrix4f& to, float width, float colorR, float colorG, float colorB)
+ VisualizationNodePtr CoinVisualizationFactory::createLine(const Eigen::Vector3f& from, const Eigen::Vector3f& to, float width, const Color& color)
{
- SoNode* s = createCoinLine(from, to, width, colorR, colorG, colorB);
+ SoNode* s = createCoinLine(from, to, width, color);
VisualizationNodePtr visualizationNode(new CoinVisualizationNode(s));
return visualizationNode;
}
- VirtualRobot::VisualizationNodePtr CoinVisualizationFactory::createLine(const Eigen::Vector3f& from, const Eigen::Vector3f& to, float width /*= 1.0f*/, float colorR /*= 0.5f*/, float colorG /*= 0.5f*/, float colorB /*= 0.5f*/)
- {
- Eigen::Matrix4f fromM;
- fromM.setIdentity();
- fromM.block(0, 3, 3, 1) = from;
- Eigen::Matrix4f toM;
- toM.setIdentity();
- toM.block(0, 3, 3, 1) = to;
- return createLine(from, to, width, colorR, colorG, colorB);
- }
- VisualizationNodePtr CoinVisualizationFactory::createSphere(float radius, float colorR, float colorG, float colorB)
+ VisualizationNodePtr CoinVisualizationFactory::createSphere(float radius, const Color& color)
{
return VisualizationNodePtr(
new CoinVisualizationNode(
CreateSphere(Eigen::Vector3f::Zero(),
radius,
- colorR, colorG, colorB)));
+ color)));
}
- VisualizationNodePtr CoinVisualizationFactory::createCylinder(float radius, float height, float colorR, float colorG, float colorB)
+ VisualizationNodePtr CoinVisualizationFactory::createCylinder(float radius, float height, const Color& color)
{
SoSeparator* s = new SoSeparator();
s->ref();
@@ -664,8 +648,9 @@ namespace VirtualRobot
SoMaterial* m = new SoMaterial();
s->addChild(m);
- m->ambientColor.setValue(colorR, colorG, colorB);
- m->diffuseColor.setValue(colorR, colorG, colorB);
+ m->ambientColor.setValue(color.r, color.g, color.b);
+ m->diffuseColor.setValue(color.r, color.g, color.b);
+ m->transparency.setValue(color.transparency);
SoCylinder* c = new SoCylinder();
s->addChild(c);
@@ -677,9 +662,9 @@ namespace VirtualRobot
return visualizationNode;
}
- VisualizationNodePtr CoinVisualizationFactory::createCircle(float radius, float circleCompletion, float width, float colorR, float colorG, float colorB, size_t numberOfCircleParts)
+ VisualizationNodePtr CoinVisualizationFactory::createCircle(float radius, float circleCompletion, float width, const Color& color, size_t numberOfCircleParts)
{
- SoNode* s = createCoinPartCircle(radius, circleCompletion, width, colorR, colorB, colorG, numberOfCircleParts);
+ SoNode* s = createCoinPartCircle(radius, circleCompletion, width, color, numberOfCircleParts);
VisualizationNodePtr visualizationNode(new CoinVisualizationNode(s));
s->unref();
return visualizationNode;
@@ -837,7 +822,7 @@ namespace VirtualRobot
return result;
}
- VisualizationNodePtr CoinVisualizationFactory::createText(const std::string& text, bool billboard, float scaling, Color c, float offsetX, float offsetY, float offsetZ)
+ VisualizationNodePtr CoinVisualizationFactory::createText(const std::string& text, bool billboard, float scaling, const Color& c, float offsetX, float offsetY, float offsetZ)
{
SoSeparator* res = new SoSeparator();
res->ref();
@@ -866,7 +851,7 @@ namespace VirtualRobot
return visualizationNode;
}
- VisualizationNodePtr CoinVisualizationFactory::createTorus(float radius, float tubeRadius, float completion, float colorR, float colorG, float colorB, float transparency, int sides, int rings)
+ VisualizationNodePtr CoinVisualizationFactory::createTorus(float radius, float tubeRadius, float completion, const Color& color, int sides, int rings)
{
SoSeparator* sep = new SoSeparator();
sep->ref();
@@ -874,7 +859,7 @@ namespace VirtualRobot
{
TriMeshModelPtr triMesh = TriMeshModelPtr(new TriMeshModel());
- triMesh->addColor(VirtualRobot::VisualizationFactory::Color(colorR, colorG, colorB, transparency));
+ triMesh->addColor(color);
int numVerticesPerRow = sides + 1;
int numVerticesPerColumn = rings + 1;
@@ -1020,7 +1005,7 @@ namespace VirtualRobot
return textSep;
}
- SoSeparator* CoinVisualizationFactory::CreateVertexVisualization(const Eigen::Vector3f& position, float radius, float transparency, float colorR /*= 0.5f*/, float colorG /*= 0.5f*/, float colorB /*= 0.5f*/)
+ SoSeparator* CoinVisualizationFactory::CreateVertexVisualization(const Eigen::Vector3f& position, float radius, const Color& color)
{
SoSeparator* res = new SoSeparator;
res->ref();
@@ -1039,11 +1024,11 @@ namespace VirtualRobot
// Set material
SoMaterial* m = new SoMaterial;
- m->transparency.setValue(transparency);
+ m->transparency.setValue(color.transparency);
- m->diffuseColor.setValue(colorR, colorG, colorB);
- m->ambientColor.setValue(colorR, colorG, colorB);
+ m->diffuseColor.setValue(color.r, color.g, color.b);
+ m->ambientColor.setValue(color.r, color.g, color.b);
// Set shape
SoSphere* s = new SoSphere;
@@ -1057,7 +1042,7 @@ namespace VirtualRobot
}
- SoSeparator* CoinVisualizationFactory::CreateVerticesVisualization(const std::vector<Eigen::Vector3f>& positions, float radius, VisualizationFactory::Color color)
+ SoSeparator* CoinVisualizationFactory::CreateVerticesVisualization(const std::vector<Eigen::Vector3f>& positions, float radius,const Color& color)
{
SoSeparator* pclSep = new SoSeparator;
@@ -1174,21 +1159,21 @@ namespace VirtualRobot
}
}
- VirtualRobot::VisualizationNodePtr CoinVisualizationFactory::createVertexVisualization(const Eigen::Vector3f& position, float radius, float transparency, float colorR /*= 0.5f*/, float colorG /*= 0.5f*/, float colorB /*= 0.5f*/)
+ VirtualRobot::VisualizationNodePtr CoinVisualizationFactory::createVertexVisualization(const Eigen::Vector3f& position, float radius, const Color& color)
{
- VisualizationNodePtr node(new CoinVisualizationNode(CreateVertexVisualization(position, radius, transparency, colorR, colorG, colorB)));
+ VisualizationNodePtr node(new CoinVisualizationNode(CreateVertexVisualization(position, radius, color)));
return node;
}
- VirtualRobot::VisualizationNodePtr CoinVisualizationFactory::createPlane(const Eigen::Vector3f& position, const Eigen::Vector3f& normal, float extend, float transparency, float colorR /*= 0.5f*/, float colorG /*= 0.5f*/, float colorB /*= 0.5f*/)
+ VirtualRobot::VisualizationNodePtr CoinVisualizationFactory::createPlane(const Eigen::Vector3f& position, const Eigen::Vector3f& normal, float extend, const Color& color)
{
- SoSeparator* res = CreatePlaneVisualization(position, normal, extend, transparency, false, colorR, colorG, colorB);
+ SoSeparator* res = CreatePlaneVisualization(position, normal, extend, false, color);
VisualizationNodePtr node(new CoinVisualizationNode(res));
return node;
}
- SoSeparator* CoinVisualizationFactory::CreatePlaneVisualization(const Eigen::Vector3f& position, const Eigen::Vector3f& normal, float extend, float transparency, bool grid, float colorR /*= 0.5f*/, float colorG /*= 0.5f*/, float colorB /*= 0.5f*/, std::string textureFile)
+ SoSeparator* CoinVisualizationFactory::CreatePlaneVisualization(const Eigen::Vector3f& position, const Eigen::Vector3f& normal, float extend, bool grid, const Color& color, std::string textureFile)
{
SoSeparator* res = new SoSeparator();
res->ref();
@@ -1206,9 +1191,9 @@ namespace VirtualRobot
// Set material
SoMaterial* m = new SoMaterial;
- m->transparency.setValue(transparency);
- m->diffuseColor.setValue(colorR, colorG, colorB);
- m->ambientColor.setValue(colorR, colorG, colorB);
+ m->transparency.setValue(color.transparency);
+ m->diffuseColor.setValue(color.r, color.g, color.b);
+ m->ambientColor.setValue(color.r, color.g, color.b);
res->addChild(m);
if (grid)
@@ -1217,21 +1202,21 @@ namespace VirtualRobot
if (!textureFile.empty() && RuntimeEnvironment::getDataFileAbsolute(textureFile))
{
- res2 = CreateGrid(extend, extend, extend / 500.0f, extend / 500.0f, true, textureFile.c_str(), transparency);
+ res2 = CreateGrid(extend, extend, extend / 500.0f, extend / 500.0f, true, textureFile.c_str(), color.transparency);
}
else
{
- if (transparency == 0)
+ if (color.transparency == 0)
{
std::string filename("images/FloorWhite.png");
RuntimeEnvironment::getDataFileAbsolute(filename);
- res2 = CreateGrid(extend, extend, extend / 500.0f, extend / 500.0f, true, filename.c_str(), transparency);
+ res2 = CreateGrid(extend, extend, extend / 500.0f, extend / 500.0f, true, filename.c_str(), color.transparency);
}
else
{
std::string filename("images/Floor.png");
RuntimeEnvironment::getDataFileAbsolute(filename);
- res2 = CreateGrid(extend, extend, extend / 500.0f, extend / 500.0f, true, filename.c_str(), transparency);
+ res2 = CreateGrid(extend, extend, extend / 500.0f, extend / 500.0f, true, filename.c_str(), color.transparency);
}
}
@@ -1301,7 +1286,7 @@ namespace VirtualRobot
return pGrid;
}
- SoSeparator* CoinVisualizationFactory::CreatePolygonVisualization(const std::vector<Eigen::Vector3f>& points, VisualizationFactory::Color colorInner, VisualizationFactory::Color colorLine, float lineSize)
+ SoSeparator* CoinVisualizationFactory::CreatePolygonVisualization(const std::vector<Eigen::Vector3f>& points,const Color& colorInner,const Color& colorLine, float lineSize)
{
VisualizationFactory::PhongMaterial mat;
mat.diffuse = colorInner;
@@ -1311,7 +1296,7 @@ namespace VirtualRobot
return CreatePolygonVisualization(points, mat, colorLine, lineSize);
}
- SoSeparator* CoinVisualizationFactory::CreatePolygonVisualization(const std::vector<Eigen::Vector3f>& points, VisualizationFactory::PhongMaterial mat, VisualizationFactory::Color colorLine, float lineSize)
+ SoSeparator* CoinVisualizationFactory::CreatePolygonVisualization(const std::vector<Eigen::Vector3f>& points, VisualizationFactory::PhongMaterial mat,const Color& colorLine, float lineSize)
{
SoSeparator* visu = new SoSeparator;
@@ -1380,7 +1365,7 @@ namespace VirtualRobot
}
- SoSeparator* CoinVisualizationFactory::CreateConvexHull2DVisualization(const MathTools::ConvexHull2DPtr ch, MathTools::Plane& p, VisualizationFactory::Color colorInner /*= VisualizationFactory::Color::Blue()*/, VisualizationFactory::Color colorLine /*= VisualizationFactory::Color::Black()*/, float lineSize /*= 5.0f*/, const Eigen::Vector3f& offset /*=Eigen::Vector3f::Zero() */)
+ SoSeparator* CoinVisualizationFactory::CreateConvexHull2DVisualization(const MathTools::ConvexHull2DPtr ch, MathTools::Plane& p,const Color& colorInner /*= Color::Blue()*/,const Color& colorLine /*= Color::Black()*/, float lineSize /*= 5.0f*/, const Eigen::Vector3f& offset /*=Eigen::Vector3f::Zero() */)
{
if (!ch)
{
@@ -1866,7 +1851,7 @@ namespace VirtualRobot
}
- SoNode* CoinVisualizationFactory::getCoinVisualization(TriMeshModelPtr model, bool showNormals, VisualizationFactory::Color color, bool showLines)
+ SoNode* CoinVisualizationFactory::getCoinVisualization(TriMeshModelPtr model, bool showNormals,const Color& color, bool showLines)
{
SoSeparator* res = new SoSeparator;
res->ref();
@@ -1878,11 +1863,11 @@ namespace VirtualRobot
SoSeparator* arrow = CreateArrow(z, 30.0f, 1.5f);
arrow->ref();
float lineSize = 4.0f;
- VisualizationFactory::Color lineColor = VisualizationFactory::Color::Black();
+ Color lineColor = Color::Black();
if (!showLines)
{
- lineColor = VisualizationFactory::Color::None();
+ lineColor = Color::None();
lineSize = 0.0f;
}
@@ -1899,7 +1884,7 @@ namespace VirtualRobot
v.push_back(v3);
// SoSeparator* s = CreatePolygonVisualization(v,color,lineColor,lineSize);
- VisualizationFactory::Color triColor = (model->colors.size() == 0) ? color : model->colors[model->faces[i].idColor1];
+ const Color& triColor = model->colors.empty() ? color : model->colors[model->faces[i].idColor1];
SoSeparator* s;
@@ -2254,7 +2239,7 @@ namespace VirtualRobot
VirtualRobot::VisualizationNodePtr CoinVisualizationFactory::createTriMeshModelVisualization(const TriMeshModelPtr& model, bool showNormals, const Eigen::Matrix4f& pose, bool showLines)
{
SoSeparator* res = new SoSeparator;
- SoNode* res1 = CoinVisualizationFactory::getCoinVisualization(model, showNormals, VisualizationFactory::Color::Gray(), showLines);
+ SoNode* res1 = CoinVisualizationFactory::getCoinVisualization(model, showNormals, Color::Gray(), showLines);
SoMatrixTransform* mt = getMatrixTransformScaleMM2M(pose);
res->addChild(mt);
res->addChild(res1);
@@ -2324,10 +2309,7 @@ namespace VirtualRobot
float radius,
float tubeRadius,
float completion,
- float colorR,
- float colorG,
- float colorB,
- float transparency,
+ const Color& color,
int
#ifndef NDEBUG
sides
@@ -2346,7 +2328,7 @@ namespace VirtualRobot
{
torusCompletion = 0;
}
- auto torusNode = createTorus(radius, tubeRadius, torusCompletion, colorR, colorG, colorB, transparency);
+ auto torusNode = createTorus(radius, tubeRadius, torusCompletion, color);
SoNode* torus = std::dynamic_pointer_cast<CoinVisualizationNode>(torusNode)->getCoinVisualization();
SoSeparator* s = new SoSeparator();
@@ -2357,8 +2339,8 @@ namespace VirtualRobot
SoMaterial* m = new SoMaterial();
s->addChild(m);
- m->ambientColor.setValue(colorR, colorG, colorB);
- m->diffuseColor.setValue(colorR, colorG, colorB);
+ m->ambientColor.setValue(color.r, color.g, color.b);
+ m->diffuseColor.setValue(color.r, color.g, color.b);
s->addChild(torus);
@@ -2376,7 +2358,7 @@ namespace VirtualRobot
tr->rotation.setValue(SbVec3f(0, 0, 1), angle1);
subSep->addChild(tr);
- subSep->addChild(CreateArrow(Eigen::Vector3f::UnitY()*sign, 0, tubeRadius, Color(colorR, colorG, colorB)));
+ subSep->addChild(CreateArrow(Eigen::Vector3f::UnitY()*sign, 0, tubeRadius, Color(color.r, color.g, color.b)));
VisualizationNodePtr node(new CoinVisualizationNode(s));
@@ -2384,7 +2366,7 @@ namespace VirtualRobot
return node;
}
- VirtualRobot::VisualizationNodePtr CoinVisualizationFactory::createTrajectory(TrajectoryPtr t, Color colorNode, Color colorLine, float nodeSize, float lineSize)
+ VirtualRobot::VisualizationNodePtr CoinVisualizationFactory::createTrajectory(TrajectoryPtr t,const Color& colorNode,const Color& colorLine, float nodeSize, float lineSize)
{
SoNode* res = getCoinVisualization(t, colorNode, colorLine, nodeSize, lineSize);
@@ -2394,7 +2376,7 @@ namespace VirtualRobot
//#define TEST_SHOW_VOXEL
- SoNode* CoinVisualizationFactory::getCoinVisualization(WorkspaceRepresentationPtr reachSpace, int a, int b, int c, /*const Eigen::Vector3f &positionGlobal,*/ int nrBestEntries, SoSeparator* arrow, const VirtualRobot::ColorMap& cm, bool transformToGlobalPose, unsigned char /*minValue*/)
+ SoNode* CoinVisualizationFactory::getCoinVisualization(WorkspaceRepresentationPtr reachSpace, int a, int b, int c, /*const Eigen::Vector3f &positionGlobal,*/ int nrBestEntries, SoSeparator* arrow, const ColorMap& cm, bool transformToGlobalPose, unsigned char /*minValue*/)
{
if (!reachSpace || reachSpace->numVoxels[0] <= 0 || reachSpace->numVoxels[1] <= 0 || reachSpace->numVoxels[2] <= 0)
@@ -2472,7 +2454,7 @@ namespace VirtualRobot
SoUnits* u = new SoUnits();
u->units = SoUnits::METERS;
res->addChild(u);
- VirtualRobot::VisualizationFactory::Color color = VirtualRobot::VisualizationFactory::Color::None();
+ Color color = Color::None();
std::map< unsigned char, std::vector<Eigen::Vector3f> >::reverse_iterator i = entryRot.rbegin();
int nr = 0;
float x[6];
@@ -2726,7 +2708,7 @@ namespace VirtualRobot
return res;
}
- SoNode* CoinVisualizationFactory::getCoinVisualization(WorkspaceRepresentationPtr reachSpace, const Eigen::Vector3f& fixedEEFOrientationGlobalRPY, VirtualRobot::ColorMap cm, bool transformToGlobalPose, const Eigen::Vector3f& axis, unsigned char minValue, float arrowSize)
+ SoNode* CoinVisualizationFactory::getCoinVisualization(WorkspaceRepresentationPtr reachSpace, const Eigen::Vector3f& fixedEEFOrientationGlobalRPY, ColorMap cm, bool transformToGlobalPose, const Eigen::Vector3f& axis, unsigned char minValue, float arrowSize)
{
SoSeparator* res = new SoSeparator;
res->ref();
@@ -2780,7 +2762,7 @@ namespace VirtualRobot
//Eigen::Vector3f zAxis(0,0,1.0f);
int value;
- VirtualRobot::VisualizationFactory::Color color = VirtualRobot::VisualizationFactory::Color::None();
+ Color color = Color::None();
SoSeparator* arrow = CreateArrow(axis, minS * 0.75f, minS / 20.0f, color);
if (minValue <= 0)
@@ -2861,7 +2843,7 @@ namespace VirtualRobot
return res;
}
- SoNode* CoinVisualizationFactory::getCoinVisualization(WorkspaceRepresentationPtr reachSpace, VirtualRobot::ColorMap cm, const Eigen::Vector3f& axis, bool transformToGlobalPose, unsigned char minValue, float arrowSize, int nrRotations)
+ SoNode* CoinVisualizationFactory::getCoinVisualization(WorkspaceRepresentationPtr reachSpace, ColorMap cm, const Eigen::Vector3f& axis, bool transformToGlobalPose, unsigned char minValue, float arrowSize, int nrRotations)
{
SoSeparator* res = new SoSeparator;
res->ref();
@@ -2893,7 +2875,7 @@ namespace VirtualRobot
minS = arrowSize;
}
- VirtualRobot::VisualizationFactory::Color color = VirtualRobot::VisualizationFactory::Color::None();
+ Color color = Color::None();
SoSeparator* arrow = CreateArrow(axis, minS * 0.7f, minS / 25.0f, color);
Eigen::Vector3f voxelPosition;
@@ -2931,7 +2913,7 @@ namespace VirtualRobot
return res;
}
- SoNode* CoinVisualizationFactory::getCoinVisualization(WorkspaceRepresentationPtr reachSpace, const VirtualRobot::ColorMap cm, bool transformToGlobalPose, float maxZGlobal, float minAngle, float maxAngle)
+ SoNode* CoinVisualizationFactory::getCoinVisualization(WorkspaceRepresentationPtr reachSpace, const ColorMap cm, bool transformToGlobalPose, float maxZGlobal, float minAngle, float maxAngle)
{
SoSeparator* res = new SoSeparator;
res->ref();
@@ -2959,7 +2941,7 @@ namespace VirtualRobot
}
- VirtualRobot::VisualizationFactory::Color color = VirtualRobot::VisualizationFactory::Color::None();
+ Color color = Color::None();
float radius = minS * 0.5f * 0.75f;
Eigen::Vector3f voxelPosition;
int maxValue = reachSpace->getMaxSummedAngleReachablity();
@@ -3018,7 +3000,7 @@ namespace VirtualRobot
color = cm.getColor(intensity);
- SoNode* n = CreateVertexVisualization(resPos, radius, color.transparency, color.r, color.g, color.b);
+ SoNode* n = CreateVertexVisualization(resPos, radius, color);
if (n)
{
@@ -3033,7 +3015,7 @@ namespace VirtualRobot
return res;
}
- SoNode* CoinVisualizationFactory::getCoinVisualization(TrajectoryPtr t, Color colorNode, Color colorLine, float nodeSize, float lineSize)
+ SoNode* CoinVisualizationFactory::getCoinVisualization(TrajectoryPtr t,const Color& colorNode,const Color& colorLine, float nodeSize, float lineSize)
{
SoSeparator* res = new SoSeparator;
@@ -3132,7 +3114,7 @@ namespace VirtualRobot
return res;
}
- SoNode* CoinVisualizationFactory::getCoinVisualization(WorkspaceGridPtr reachGrid, VirtualRobot::ColorMap cm, bool /*transformToGlobalPose*/ /*= true*/)
+ SoNode* CoinVisualizationFactory::getCoinVisualization(WorkspaceGridPtr reachGrid, ColorMap cm, bool /*transformToGlobalPose*/ /*= true*/)
{
SoSeparator* res = new SoSeparator;
@@ -3217,7 +3199,7 @@ namespace VirtualRobot
intensity = 1.0f;
}
- VirtualRobot::VisualizationFactory::Color color = cm.getColor(intensity);
+ Color color = cm.getColor(intensity);
SoMaterial* mat = new SoMaterial();
@@ -3256,7 +3238,7 @@ namespace VirtualRobot
}
- SoNode* CoinVisualizationFactory::getCoinVisualization(WorkspaceRepresentation::WorkspaceCut2DPtr cutXY, VirtualRobot::ColorMap cm, const Eigen::Vector3f& normal, float maxEntry, float minAngle, float maxAngle)
+ SoNode* CoinVisualizationFactory::getCoinVisualization(WorkspaceRepresentation::WorkspaceCut2DPtr cutXY, ColorMap cm, const Eigen::Vector3f& normal, float maxEntry, float minAngle, float maxAngle)
{
SoSeparator* res = new SoSeparator;
@@ -3362,7 +3344,7 @@ namespace VirtualRobot
intensity = 1.0f;
}
- VirtualRobot::VisualizationFactory::Color color = cm.getColor(intensity);
+ Color color = cm.getColor(intensity);
SoMaterial* mat = new SoMaterial();
@@ -3402,7 +3384,7 @@ namespace VirtualRobot
- SoSeparator* CoinVisualizationFactory::Create2DMap(const Eigen::MatrixXf& d, float extendCellX, float extendCellY, const VirtualRobot::ColorMap cm, bool drawZeroCells, bool drawLines)
+ SoSeparator* CoinVisualizationFactory::Create2DMap(const Eigen::MatrixXf& d, float extendCellX, float extendCellY, const ColorMap cm, bool drawZeroCells, bool drawLines)
{
SoSeparator* res = new SoSeparator;
res->ref();
@@ -3483,7 +3465,7 @@ namespace VirtualRobot
intensity = 1.0f;
}
- VirtualRobot::VisualizationFactory::Color color = cm.getColor(intensity);
+ Color color = cm.getColor(intensity);
SoMaterial* mat = new SoMaterial();
@@ -3523,7 +3505,7 @@ namespace VirtualRobot
return res;
}
- SoSeparator* CoinVisualizationFactory::Create2DHeightMap(const Eigen::MatrixXf& d, float extendCellX, float extendCellY, float heightZ, const VirtualRobot::ColorMap cm, bool drawZeroCells, bool drawLines)
+ SoSeparator* CoinVisualizationFactory::Create2DHeightMap(const Eigen::MatrixXf& d, float extendCellX, float extendCellY, float heightZ, const ColorMap cm, bool drawZeroCells, bool drawLines)
{
SoSeparator* res = new SoSeparator;
res->ref();
@@ -3621,7 +3603,7 @@ namespace VirtualRobot
if (drawZeroCells || intensity > 0.)
{
float lineWidth = drawLines ? 4.0f : 0.f;
- SoSeparator* pol = CreatePolygonVisualization(pts, cm.getColor(intensity), VisualizationFactory::Color::Black(), lineWidth);
+ SoSeparator* pol = CreatePolygonVisualization(pts, cm.getColor(intensity), Color::Black(), lineWidth);
grid->addChild(pol);
}
}
@@ -3632,7 +3614,7 @@ namespace VirtualRobot
return res;
}
- SoSeparator* CoinVisualizationFactory::Colorize(SoNode* model, VisualizationFactory::Color c)
+ SoSeparator* CoinColorize(SoNode* model, const CoinVisualizationFactory::Color& c)
{
SoSeparator* result = new SoSeparator;
SoBaseColor* bc = new SoBaseColor();
@@ -4131,7 +4113,7 @@ namespace VirtualRobot
}
}
- SoSeparator* CoinVisualizationFactory::CreateOOBBVisualization(const MathTools::OOBB& oobb, Color colorLine /*= Color::Gray()*/, float lineSize /*= 4.0f*/)
+ SoSeparator* CoinVisualizationFactory::CreateOOBBVisualization(const MathTools::OOBB& oobb,const Color& colorLine /*= Color::Gray()*/, float lineSize /*= 4.0f*/)
{
SoSeparator* res = new SoSeparator;
res->ref();
@@ -4150,7 +4132,7 @@ namespace VirtualRobot
return res;
}
- SoSeparator* CoinVisualizationFactory::CreateSegmentVisualization(const MathTools::Segment& s, Color colorLine /*= Color::Gray()*/, float lineSize /*= 4.0f*/)
+ SoSeparator* CoinVisualizationFactory::CreateSegmentVisualization(const MathTools::Segment& s,const Color& colorLine /*= Color::Gray()*/, float lineSize /*= 4.0f*/)
{
SoSeparator* res = new SoSeparator;
res->ref();
@@ -4161,6 +4143,8 @@ namespace VirtualRobot
SoMaterial* materialLineSolution = new SoMaterial();
materialLineSolution->ambientColor.setValue(colorLine.r, colorLine.g, colorLine.b);
materialLineSolution->diffuseColor.setValue(colorLine.r, colorLine.g, colorLine.b);
+ materialLineSolution->transparency.setValue(colorLine.transparency);
+
SoDrawStyle* lineSolutionStyle = new SoDrawStyle();
lineSolutionStyle->lineWidth.setValue(lineSize);
@@ -4304,24 +4288,18 @@ namespace VirtualRobot
SoSeparator* CoinVisualizationFactory::CreateSphere(
float radius,
- float colorR,
- float colorG,
- float colorB)
+ const Color& color)
{
return CreateSphere(
Eigen::Vector3f::Zero(),
radius,
- colorR,
- colorG,
- colorB);
+ color);
}
SoSeparator* CoinVisualizationFactory::CreateSphere(
const Eigen::Vector3f& p,
float radius,
- float colorR,
- float colorG,
- float colorB)
+ const Color& color)
{
SoSeparator* s = new SoSeparator();
s->ref();
@@ -4337,8 +4315,9 @@ namespace VirtualRobot
SoMaterial* m = new SoMaterial();
s->addChild(m);
- m->ambientColor.setValue(colorR, colorG, colorB);
- m->diffuseColor.setValue(colorR, colorG, colorB);
+ m->ambientColor.setValue(color.r, color.g, color.b);
+ m->diffuseColor.setValue(color.r, color.g, color.b);
+ m->transparency.setValue(color.transparency);
SoSphere* c = new SoSphere();
s->addChild(c);
@@ -4504,6 +4483,7 @@ namespace VirtualRobot
SoMaterial* m = new SoMaterial();
m->ambientColor.setValue(color.r, color.g, color.b);
m->diffuseColor.setValue(color.r, color.g, color.b);
+ m->transparency.setValue(color.transparency);
return m;
}
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
index eaf8b1878e4eedb63547d6a51ba0eb7ed899396f..c829659b48865dd387f45defd52cd729788ba780 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
@@ -31,6 +31,7 @@
#include "../ColorMap.h"
#include "../../Workspace/WorkspaceRepresentation.h"
+#include "SimoxUtility/color/Color.h"
#include <Inventor/SoInput.h>
#include <Inventor/nodes/SoMatrixTransform.h>
#include <Inventor/nodes/SoMaterial.h>
@@ -66,36 +67,34 @@ namespace VirtualRobot
void init(int& argc, char* argv[], const std::string& appName) override;
- VisualizationNodePtr getVisualizationFromPrimitives(const std::vector<Primitive::PrimitivePtr>& primitives, bool boundingBox = false, Color color = Color::Gray()) override;
+ VisualizationNodePtr getVisualizationFromPrimitives(const std::vector<Primitive::PrimitivePtr>& primitives, bool boundingBox = false,const Color& color = Color::Gray()) override;
VisualizationNodePtr getVisualizationFromFile(const std::string& filename, bool boundingBox = false, float scaleX = 1.0f, float scaleY = 1.0f, float scaleZ = 1.0f) override;
virtual VisualizationNodePtr getVisualizationFromFileWithAssimp(const std::string& filename, bool boundingBox = false, float scaleX = 1.0f, float scaleY = 1.0f, float scaleZ = 1.0f);
virtual VisualizationNodePtr getVisualizationFromCoin3DFile(const std::string& filename, bool boundingBox = false);
VisualizationNodePtr getVisualizationFromFile(const std::ifstream& ifs, bool boundingBox = false, float scaleX = 1.0f, float scaleY = 1.0f, float scaleZ = 1.0f) override;
virtual VisualizationNodePtr getVisualizationFromString(const std::string& modelString, bool boundingBox = false);
-
-
virtual VisualizationPtr getVisualization(const std::vector<VisualizationNodePtr>& visus);
virtual VisualizationPtr getVisualization(VisualizationNodePtr visu);
-
- VisualizationNodePtr createBox(float width, float height, float depth, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f) override;
- VisualizationNodePtr createLine(const Eigen::Vector3f& from, const Eigen::Vector3f& to, float width = 1.0f, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f) override;
- VisualizationNodePtr createLine(const Eigen::Matrix4f& from, const Eigen::Matrix4f& to, float width = 1.0f, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f) override;
- VisualizationNodePtr createSphere(float radius, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f) override;
- VisualizationNodePtr createCylinder(float radius, float height, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f) override;
- VisualizationNodePtr createCircle(float radius, float circleCompletion, float width, float colorR = 1.0f, float colorG = 0.5f, float colorB = 0.5f, size_t numberOfCircleParts = 30) override;
+ VisualizationNodePtr createBox(float width, float height, float depth, const Color& color = Color::Gray()) override;
+ VisualizationNodePtr createLine(const Eigen::Vector3f& from, const Eigen::Vector3f& to, float width = 1.0f, const Color& color = Color::Gray()) override;
+ VisualizationNodePtr createSphere(float radius, const Color& color = Color::Gray()) override;
+ VisualizationNodePtr createCylinder(float radius, float height, const Color& color = Color::Gray()) override;
+ VisualizationNodePtr createCircle(float radius, float circleCompletion, float width, const Color& color = Color::Gray(), size_t numberOfCircleParts = 30) override;
VisualizationNodePtr createCoordSystem(float scaling = 1.0f, std::string* text = NULL, float axisLength = 100.0f, float axisSize = 3.0f, int nrOfBlocks = 10) override;
VisualizationNodePtr createBoundingBox(const BoundingBox& bbox, bool wireFrame = false) override;
- VisualizationNodePtr createVertexVisualization(const Eigen::Vector3f& position, float radius, float transparency, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f) override;
+ VisualizationNodePtr createVertexVisualization(const Eigen::Vector3f& position, float radius, const Color& color = Color::Gray()) override;
VisualizationNodePtr createTriMeshModelVisualization(const TriMeshModelPtr& model, const Eigen::Matrix4f& pose = Eigen::Matrix4f::Identity(), float scaleX = 1.0f, float scaleY = 1.0f, float scaleZ = 1.0f) override;
VisualizationNodePtr createTriMeshModelVisualization(const TriMeshModelPtr& model, bool showNormals, const Eigen::Matrix4f& pose, bool showLines = true) override;
- VisualizationNodePtr createPlane(const Eigen::Vector3f& position, const Eigen::Vector3f& normal, float extend, float transparency, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f) override;
+ VisualizationNodePtr createPlane(const Eigen::Vector3f& position, const Eigen::Vector3f& normal, float extend, const Color& color = Color::Gray()) override;
VisualizationNodePtr createArrow(const Eigen::Vector3f& n, float length = 50.0f, float width = 2.0f, const Color& color = Color::Gray()) override;
- VisualizationNodePtr createCircleArrow(float radius, float tubeRadius, float completion = 1, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f, float transparency = 0.0f, int sides = 8, int rings = 30) override;
- VisualizationNodePtr createTrajectory(TrajectoryPtr t, Color colorNode = Color::Blue(), Color colorLine = Color::Gray(), float nodeSize = 15.0f, float lineSize = 4.0f) override;
- VisualizationNodePtr createText(const std::string& text, bool billboard = false, float scaling = 1.0f, Color c = Color::Black(), float offsetX = 20.0f, float offsetY = 20.0f, float offsetZ = 0.0f) override;
- VisualizationNodePtr createTorus(float radius, float tubeRadius, float completion = 1, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f, float transparency = 0.0f, int sides = 8, int rings = 30) override;
+ VisualizationNodePtr createCircleArrow(float radius, float tubeRadius, float completion = 1, const Color& color = Color::Gray(), int sides = 8, int rings = 30) override;
+ VisualizationNodePtr createTrajectory(TrajectoryPtr t, const Color& colorNode = Color::Blue(),const Color& colorLine = Color::Gray(), float nodeSize = 15.0f, float lineSize = 4.0f) override;
+ VisualizationNodePtr createText(const std::string& text, bool billboard = false, float scaling = 1.0f, const Color& c = Color::Black(), float offsetX = 20.0f, float offsetY = 20.0f, float offsetZ = 0.0f) override;
+ VisualizationNodePtr createTorus(float radius, float tubeRadius, float completion = 1, const Color& color = Color::Gray(), int sides = 8, int rings = 30) override;
+
+
/*!
Creates an coordinate axis aligned ellipse
\param x The extend in x direction must be >= 1e-6
@@ -120,10 +119,10 @@ namespace VirtualRobot
VisualizationNodePtr createUnitedVisualization(const std::vector<VisualizationNodePtr>& visualizations) const override;
- static SoSeparator* CreateConvexHull2DVisualization(const MathTools::ConvexHull2DPtr ch, MathTools::Plane& p, VisualizationFactory::Color colorInner = VisualizationFactory::Color::Blue(), VisualizationFactory::Color colorLine = VisualizationFactory::Color::Black(), float lineSize = 5.0f, const Eigen::Vector3f& offset = Eigen::Vector3f::Zero());
- static SoSeparator* CreatePolygonVisualization(const std::vector<Eigen::Vector3f>& points, VisualizationFactory::Color colorInner = VisualizationFactory::Color::Blue(), VisualizationFactory::Color colorLine = VisualizationFactory::Color::Black(), float lineSize = 4.0f);
- static SoSeparator* CreatePolygonVisualization(const std::vector<Eigen::Vector3f>& points, VisualizationFactory::PhongMaterial mat, VisualizationFactory::Color colorLine = VisualizationFactory::Color::Black(), float lineSize = 4.0f);
- static SoSeparator* CreatePlaneVisualization(const Eigen::Vector3f& position, const Eigen::Vector3f& normal, float extend, float transparency, bool grid = true, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f, std::string textureFile = std::string());
+ static SoSeparator* CreateConvexHull2DVisualization(const MathTools::ConvexHull2DPtr ch, MathTools::Plane& p,const Color& colorInner = Color::Blue(),const Color& colorLine = Color::Black(), float lineSize = 5.0f, const Eigen::Vector3f& offset = Eigen::Vector3f::Zero());
+ static SoSeparator* CreatePolygonVisualization(const std::vector<Eigen::Vector3f>& points,const Color& colorInner = Color::Blue(),const Color& colorLine = Color::Black(), float lineSize = 4.0f);
+ static SoSeparator* CreatePolygonVisualization(const std::vector<Eigen::Vector3f>& points, VisualizationFactory::PhongMaterial mat,const Color& colorLine = Color::Black(), float lineSize = 4.0f);
+ static SoSeparator* CreatePlaneVisualization(const Eigen::Vector3f& position, const Eigen::Vector3f& normal, float extend, bool grid = true, const Color& color = Color::Gray(), std::string textureFile = std::string());
static SoSeparator* CreateCoordSystemVisualization(float scaling = 1.0f, std::string* text = NULL, float axisLength = 100.0f, float axisSize = 3.0f, int nrOfBlocks = 10);
static SoSeparator* CreateBoundingBox(SoNode* ivModel, bool wireFrame = false);
static SoSeparator* CreateGrid(float width, float depth, float widthMosaic, float depthMosaic, bool InvertNormal, const char* pFileName, float Transparency);
@@ -132,8 +131,8 @@ namespace VirtualRobot
static SoSeparator* CreatePointsVisualization(const std::vector<MathTools::ContactPoint>& points, bool showNormals = false);
static SoSeparator* CreateArrow(const Eigen::Vector3f& pt, const Eigen::Vector3f& n, float length = 50.0f, float width = 2.0f, const Color& color = Color::Gray());
static SoSeparator* CreateArrow(const Eigen::Vector3f& n, float length = 50.0f, float width = 2.0f, const Color& color = Color::Gray());
- static SoSeparator* CreateVertexVisualization(const Eigen::Vector3f& position, float radius, float transparency, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f);
- static SoSeparator* CreateVerticesVisualization(const std::vector<Eigen::Vector3f>& positions, float radius, VisualizationFactory::Color color = VisualizationFactory::Color::Gray());
+ static SoSeparator* CreateVertexVisualization(const Eigen::Vector3f& position, float radius, const Color& color = Color::Gray());
+ static SoSeparator* CreateVerticesVisualization(const std::vector<Eigen::Vector3f>& positions, float radius,const Color& color = Color::Gray());
static void RemoveDuplicateTextures(SoNode* node, const std::string& currentPath);
/*!
@@ -161,28 +160,24 @@ namespace VirtualRobot
);
static SoSeparator* CreateSphere(float radius,
- float colorR,
- float colorG,
- float colorB);
+ const Color& color);
static SoSeparator* CreateSphere(const Eigen::Vector3f& p,
float radius,
- float colorR,
- float colorG,
- float colorB);
+ const Color& color);
static SoSeparator* CreateCylindroid(float axisLengthX, float axisLengthY, float height, SoMaterial* matBody = nullptr);
static SoSeparator* Create2DMap(const Eigen::MatrixXf& d, float extendCellX, float extendCellY, const VirtualRobot::ColorMap cm = VirtualRobot::ColorMap(VirtualRobot::ColorMap::eHot), bool drawZeroCells = false, bool drawLines = true);
static SoSeparator* Create2DHeightMap(const Eigen::MatrixXf& d, float extendCellX, float extendCellY, float heightZ, const VirtualRobot::ColorMap cm = VirtualRobot::ColorMap(VirtualRobot::ColorMap::eHot), bool drawZeroCells = false, bool drawLines = true);
- static SoSeparator* CreateOOBBVisualization(const MathTools::OOBB& oobb, Color colorLine = Color::Gray(), float lineSize = 4.0f);
- static SoSeparator* CreateSegmentVisualization(const MathTools::Segment& s, Color colorLine = Color::Gray(), float lineSize = 4.0f);
+ static SoSeparator* CreateOOBBVisualization(const MathTools::OOBB& oobb,const Color& colorLine = Color::Gray(), float lineSize = 4.0f);
+ static SoSeparator* CreateSegmentVisualization(const MathTools::Segment& s,const Color& colorLine = Color::Gray(), float lineSize = 4.0f);
/*!
Creates a colored model, by creating a new SoSeparator and adding a basecolor with overide flags followed by the model.
*/
- static SoSeparator* Colorize(SoNode* model, VisualizationFactory::Color c);
+ static SoSeparator* Colorize(SoNode* model,const Color& c);
static SbMatrix getSbMatrix(const Eigen::Matrix4f& m);
static SbMatrix getSbMatrixVec(const Eigen::Vector3f& m);
@@ -246,10 +241,10 @@ namespace VirtualRobot
static SoNode* getCoinVisualization(VisualizationNodePtr visu);
static SoNode* getCoinVisualization(TriMeshModelPtr model);
- static SoNode* getCoinVisualization(TriMeshModelPtr model, bool shownormals, VisualizationFactory::Color color = VisualizationFactory::Color::Gray(), bool showLines = true);
+ static SoNode* getCoinVisualization(TriMeshModelPtr model, bool shownormals,const Color& color = Color::Gray(), bool showLines = true);
- static SoNode* getCoinVisualization(TrajectoryPtr t, Color colorNode = Color::Blue(), Color colorLine = Color::Gray(), float nodeSize = 15.0f, float lineSize = 4.0f);
+ static SoNode* getCoinVisualization(TrajectoryPtr t,const Color& colorNode = Color::Blue(),const Color& colorLine = Color::Gray(), float nodeSize = 15.0f, float lineSize = 4.0f);
/*!
Create a visualization of the reachability data.
*/
@@ -282,8 +277,8 @@ namespace VirtualRobot
\param m The pose with translation given in millimeter.
*/
static SoMatrixTransform* getMatrixTransformScaleMM2M(const Eigen::Matrix4f& m);
- static SoNode* createCoinLine(const Eigen::Matrix4f& from, const Eigen::Matrix4f& to, float width, float colorR, float colorG, float colorB);
- static SoNode* createCoinPartCircle(float radius, float circleCompletion, float width, float colorR, float colorG, float colorB, size_t numberOfCircleParts, float offset=0);
+ static SoNode* createCoinLine(const Eigen::Vector3f& from, const Eigen::Vector3f& to, float width, const Color& color);
+ static SoNode* createCoinPartCircle(float radius, float circleCompletion, float width, const Color& color, size_t numberOfCircleParts, float offset=0);
/*!
@@ -448,7 +443,7 @@ namespace VirtualRobot
*/
void cleanup() override;
protected:
- static SoNode* GetNodeFromPrimitive(Primitive::PrimitivePtr primitive, bool boundingBox, Color color);
+ static SoNode* GetNodeFromPrimitive(Primitive::PrimitivePtr primitive, bool boundingBox,const Color& color);
static void GetVisualizationFromSoInput(SoInput& soInput, VisualizationNodePtr& visualizationNode, bool bbox = false, bool freeDuplicateTextures = true);
static inline char IVToolsHelper_ReplaceSpaceWithUnderscore(char input)
@@ -478,4 +473,3 @@ namespace VirtualRobot
} // namespace VirtualRobot
-
diff --git a/VirtualRobot/Visualization/VisualizationFactory.cpp b/VirtualRobot/Visualization/VisualizationFactory.cpp
index 26cfa61e5fdefefbf0cf719f3cb9354bbd8079fe..5a7fa08a215b02f22294fac6c1399276f52341e0 100644
--- a/VirtualRobot/Visualization/VisualizationFactory.cpp
+++ b/VirtualRobot/Visualization/VisualizationFactory.cpp
@@ -23,4 +23,148 @@ namespace VirtualRobot
}
+ VisualizationNodePtr
+ VisualizationFactory::createBox(float /*width*/,
+ float /*height*/,
+ float /*depth*/,
+ const Color& /*color*/)
+ {
+ return nullptr;
+ }
+
+ VisualizationNodePtr
+ VisualizationFactory::createLine(const Eigen::Vector3f& /*from*/,
+ const Eigen::Vector3f& /*to*/,
+ float /*width*/,
+ const Color& /*color*/)
+ {
+ return nullptr;
+ }
+
+ VisualizationNodePtr
+ VisualizationFactory::createSphere(float /*radius*/, const Color& /*color*/)
+ {
+ return nullptr;
+ }
+
+ VisualizationNodePtr
+ VisualizationFactory::createCylinder(float /*radius*/, float /*height*/, const Color& /*color*/)
+ {
+ return nullptr;
+ }
+
+ VisualizationNodePtr
+ VisualizationFactory::createCircle(float /*radius*/,
+ float /*circleCompletion*/,
+ float /*width*/,
+ const Color& /*color*/,
+ size_t /*numberOfCircleParts*/)
+ {
+ return nullptr;
+ }
+
+ VisualizationNodePtr
+ VisualizationFactory::createVertexVisualization(const Eigen::Vector3f& /*position*/,
+ float /*radius*/,
+ const Color& /*color*/)
+ {
+ return nullptr;
+ }
+
+ VisualizationNodePtr
+ VisualizationFactory::createPlane(const Eigen::Vector3f& /*position*/,
+ const Eigen::Vector3f& /*normal*/,
+ float /*extend*/,
+ const Color& /*color*/)
+ {
+ return nullptr;
+ }
+
+ VisualizationNodePtr
+ VisualizationFactory::createCircleArrow(float /*radius*/,
+ float /*tubeRadius*/,
+ float /*completion*/,
+ const Color& /*color*/,
+ int /*sides*/,
+ int /*rings*/)
+ {
+ return nullptr;
+ }
+
+
+ VisualizationNodePtr
+ VisualizationFactory::createTorus(float /*radius*/,
+ float /*tubeRadius*/,
+ float /*completion*/,
+ const Color& /*color*/,
+ int /*sides*/,
+ int /*rings*/)
+ {
+ return nullptr;
+ }
+
+ VisualizationNodePtr
+ VisualizationFactory::createTrajectory(TrajectoryPtr /*t*/,
+ const Color& /*colorNode*/,
+ const Color& /*colorLine*/,
+ float /*nodeSize*/,
+ float /*lineSize*/)
+ {
+ return nullptr;
+ }
+ VisualizationNodePtr
+ VisualizationFactory::createText(const std::string& /*text*/,
+ bool /*billboard*/,
+ float /*scaling*/,
+ const Color& /*c*/,
+ float /*offsetX*/,
+ float /*offsetY*/,
+ float /*offsetZ*/)
+ {
+ return nullptr;
+ }
+
+ VisualizationNodePtr
+ VisualizationFactory::createTriMeshModelVisualization(const TriMeshModelPtr& /*model*/,
+ const Eigen::Matrix4f& /*pose*/,
+ float /*scaleX*/,
+ float /*scaleY*/,
+ float /*scaleZ*/)
+ {
+ return nullptr;
+ }
+
+ VisualizationNodePtr
+ VisualizationFactory::createTriMeshModelVisualization(const TriMeshModelPtr& /*model*/,
+ bool /*showNormals*/,
+ const Eigen::Matrix4f& /*pose*/,
+ bool /*showLines*/)
+ {
+ return nullptr;
+ }
+
+ VisualizationNodePtr
+ VisualizationFactory::createBoundingBox(const BoundingBox& /*bbox*/, bool /*wireFrame*/)
+ {
+ return nullptr;
+ }
+
+ VisualizationNodePtr
+ VisualizationFactory::createCoordSystem(float /*scaling*/,
+ std::string* /*text*/,
+ float /*axisLength*/,
+ float /*axisSize*/,
+ int /*nrOfBlocks*/)
+ {
+ return nullptr;
+ }
+
+ VisualizationNodePtr
+ VisualizationFactory::createArrow(const Eigen::Vector3f& /*n*/,
+ float /*length*/,
+ float /*width*/,
+ const Color& /*color*/)
+ {
+ return nullptr;
+ }
} // namespace VirtualRobot
diff --git a/VirtualRobot/Visualization/VisualizationFactory.h b/VirtualRobot/Visualization/VisualizationFactory.h
index 537731321099954000d1609bc441a52d927eee8b..3e038dc235ceef9e4d6670c8a9f0a9a0debf07df 100644
--- a/VirtualRobot/Visualization/VisualizationFactory.h
+++ b/VirtualRobot/Visualization/VisualizationFactory.h
@@ -27,6 +27,7 @@
#include "../MathTools.h"
#include "../BoundingBox.h"
#include "../Primitive.h"
+#include "SimoxUtility/color/Color.h"
#include <Eigen/Core>
#include <string>
@@ -73,6 +74,8 @@ namespace VirtualRobot
{
return Color(0.0f, 0.0f, 0.0f, 1.0f);
}
+
+ Color(const simox::Color& sc): Color(sc.r / 255., sc.g / 255., sc.b / 255., sc.a / 255.){}
};
struct PhongMaterial
@@ -97,7 +100,7 @@ namespace VirtualRobot
{
}
- virtual VisualizationNodePtr getVisualizationFromPrimitives(const std::vector<Primitive::PrimitivePtr>& /*primitives*/, bool /*boundingBox*/ = false, Color /*color*/ = Color::Gray())
+ virtual VisualizationNodePtr getVisualizationFromPrimitives(const std::vector<Primitive::PrimitivePtr>& /*primitives*/, bool /*boundingBox*/ = false, const Color& /*color*/ = Color::Gray())
{
return nullptr;
}
@@ -109,86 +112,96 @@ namespace VirtualRobot
{
return nullptr;
}
- /*!
- A box, dimensions are given in mm.
- */
- virtual VisualizationNodePtr createBox(float /*width*/, float /*height*/, float /*depth*/, float /*colorR*/ = 0.5f, float /*colorG*/ = 0.5f, float /*colorB*/ = 0.5f)
- {
- return nullptr;
- }
- virtual VisualizationNodePtr createLine(const Eigen::Vector3f& /*from*/, const Eigen::Vector3f& /*to*/, float /*width*/ = 1.0f, float /*colorR*/ = 0.5f, float /*colorG*/ = 0.5f, float /*colorB*/ = 0.5f)
- {
- return nullptr;
- }
- virtual VisualizationNodePtr createLine(const Eigen::Matrix4f& /*from*/, const Eigen::Matrix4f& /*to*/, float /*width*/ = 1.0f, float /*colorR*/ = 0.5f, float /*colorG*/ = 0.5f, float /*colorB*/ = 0.5f)
- {
- return nullptr;
- }
- virtual VisualizationNodePtr createSphere(float /*radius*/, float /*colorR*/ = 0.5f, float /*colorG*/ = 0.5f, float /*colorB*/ = 0.5f)
- {
- return nullptr;
- }
- virtual VisualizationNodePtr createCircle(float /*radius*/, float /*circleCompletion*/, float /*width*/, float /*colorR*/ = 1.0f, float /*colorG*/ = 0.5f, float /*colorB*/ = 0.5f, size_t /*numberOfCircleParts*/ = 30)
- {
- return nullptr;
- }
-
- virtual VisualizationNodePtr createTorus(float /*radius*/, float /*tubeRadius*/, float /*completion*/ = 1.0f, float /*colorR*/ = 0.5f, float /*colorG*/ = 0.5f, float /*colorB*/ = 0.5f, float /*transparency*/ = 0.0f, int /*sides*/ = 8, int /*rings*/ = 30)
- {
- return nullptr;
- }
+
+ // virtual VisualizationNodePtr createPlane(const MathTools::Plane& plane, float extend, float transparency, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f)
+ // {
+ // return createPlane(plane.p, plane.n, extend, transparency, colorR, colorG, colorB);
+ // }
+
+
+
+ virtual VisualizationNodePtr
+ createBox(float width, float height, float depth, const Color& color = Color::Gray());
+
+ virtual VisualizationNodePtr createLine(const Eigen::Vector3f& from,
+ const Eigen::Vector3f& to,
+ float width = 1.0f,
+ const Color& color = Color::Gray());
+
+ virtual VisualizationNodePtr createSphere(float radius, const Color& color = Color::Gray());
+
+ virtual VisualizationNodePtr
+ createCylinder(float radius, float height, const Color& color = Color::Gray());
+
+ virtual VisualizationNodePtr createCircle(float radius,
+ float circleCompletion,
+ float width,
+ const Color& color = Color::Gray(),
+ size_t numberOfCircleParts = 30);
+
+ virtual VisualizationNodePtr createCoordSystem(float /*scaling*/ = 1.0f,
+ std::string* text = nullptr,
+ float axisLength = 100.0f,
+ float axisSize = 3.0f,
+ int nrOfBlocks = 10);
+
+ virtual VisualizationNodePtr createBoundingBox(const BoundingBox& bbox,
+ bool wireFrame = false);
+
+ virtual VisualizationNodePtr createVertexVisualization(const Eigen::Vector3f& position,
+ float radius,
+ const Color& color = Color::Gray());
+
+ virtual VisualizationNodePtr
+ createTriMeshModelVisualization(const TriMeshModelPtr& model,
+ const Eigen::Matrix4f& pose = Eigen::Matrix4f::Identity(),
+ float scaleX = 1.0f,
+ float scaleY = 1.0f,
+ float scaleZ = 1.0f);
+
+ virtual VisualizationNodePtr createTriMeshModelVisualization(const TriMeshModelPtr& model,
+ bool showNormals,
+ const Eigen::Matrix4f& pose,
+ bool /*showLines*/ = true);
+
+ virtual VisualizationNodePtr createPlane(const Eigen::Vector3f& position,
+ const Eigen::Vector3f& normal,
+ float extend,
+ const Color& color = Color::Gray());
+
+ virtual VisualizationNodePtr createArrow(const Eigen::Vector3f& n,
+ float length = 50.0f,
+ float width = 2.0f,
+ const Color& color = Color::Gray());
+
+ virtual VisualizationNodePtr createCircleArrow(float radius,
+ float tubeRadius,
+ float completion = 1,
+ const Color& color = Color::Gray(),
+ int sides = 8,
+ int rings = 30);
+
+ virtual VisualizationNodePtr createTrajectory(TrajectoryPtr t,
+ const Color& colorNode = Color::Blue(),
+ const Color& colorLine = Color::Gray(),
+ float nodeSize = 15.0f,
+ float lineSize = 4.0f);
+
+ virtual VisualizationNodePtr createText(const std::string& text,
+ bool billboard = false,
+ float scaling = 1.0f,
+ const Color& c = Color::Black(),
+ float offsetX = 20.0f,
+ float offsetY = 20.0f,
+ float offsetZ = 0.0f);
+
+ virtual VisualizationNodePtr createTorus(float radius,
+ float tubeRadius,
+ float completion = 1,
+ const Color& color = Color::Gray(),
+ int sides = 8,
+ int rings = 30);
- virtual VisualizationNodePtr createCircleArrow(float /*radius*/, float /*tubeRadius*/, float /*completion*/ = 1, float /*colorR*/ = 0.5f, float /*colorG*/ = 0.5f, float /*colorB*/ = 0.5f, float /*transparency*/ = 0.0f, int /*sides*/ = 8, int /*rings*/ = 30)
- {
- return nullptr;
- }
-
- virtual VisualizationNodePtr createCylinder(float /*radius*/, float /*height*/, float /*colorR*/ = 0.5f, float /*colorG*/ = 0.5f, float /*colorB*/ = 0.5f)
- {
- return nullptr;
- }
- virtual VisualizationNodePtr createCoordSystem(float /*scaling*/ = 1.0f, std::string* /*text*/ = NULL, float /*axisLength*/ = 100.0f, float /*axisSize*/ = 3.0f, int /*nrOfBlocks*/ = 10)
- {
- return nullptr;
- }
- virtual VisualizationNodePtr createBoundingBox(const BoundingBox& /*bbox*/, bool /*wireFrame*/ = false)
- {
- return nullptr;
- }
- virtual VisualizationNodePtr createVertexVisualization(const Eigen::Vector3f& /*position*/, float /*radius*/, float /*transparency*/, float /*colorR*/ = 0.5f, float /*colorG*/ = 0.5f, float /*colorB*/ = 0.5f)
- {
- return nullptr;
- }
-
- virtual VisualizationNodePtr createTriMeshModelVisualization(const TriMeshModelPtr& /*model*/, const Eigen::Matrix4f& /*pose*/, float /*scaleX*/ = 1.0f, float /*scaleY*/ = 1.0f, float /*scaleZ*/ = 1.0f)
- {
- return nullptr;
- }
-
- virtual VisualizationNodePtr createTriMeshModelVisualization(const TriMeshModelPtr& /*model*/, bool /*showNormals*/, const Eigen::Matrix4f& /*pose*/, bool /*showLines*/ = true)
- {
- return nullptr;
- }
- virtual VisualizationNodePtr createPlane(const Eigen::Vector3f& /*position*/, const Eigen::Vector3f& /*normal*/, float /*extend*/, float /*transparency*/, float /*colorR*/ = 0.5f, float /*colorG*/ = 0.5f, float /*colorB*/ = 0.5f)
- {
- return nullptr;
- }
- virtual VisualizationNodePtr createPlane(const MathTools::Plane& plane, float extend, float transparency, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f)
- {
- return createPlane(plane.p, plane.n, extend, transparency, colorR, colorG, colorB);
- }
- virtual VisualizationNodePtr createArrow(const Eigen::Vector3f& /*n*/, float /*length*/ = 50.0f, float /*width*/ = 2.0f, const Color& /*color*/ = Color::Gray())
- {
- return nullptr;
- }
- virtual VisualizationNodePtr createTrajectory(TrajectoryPtr /*t*/, Color /*colorNode*/ = Color::Blue(), Color /*colorLine*/ = Color::Gray(), float /*nodeSize*/ = 15.0f, float /*lineSize*/ = 4.0f)
- {
- return nullptr;
- }
- virtual VisualizationNodePtr createText(const std::string& /*text*/, bool /*billboard*/ = false, float /*scaling*/ = 1.0f, Color /*c*/ = Color::Black(), float /*offsetX*/ = 20.0f, float /*offsetY*/ = 20.0f, float /*offsetZ*/ = 0.0f)
- {
- return nullptr;
- }
/*!
Creates an coordinate axis aligned ellipse
\param x The extend in x direction must be >= 1e-6
@@ -234,4 +247,3 @@ namespace VirtualRobot
typedef std::shared_ptr<VisualizationFactory::Color> ColorPtr;
} // namespace VirtualRobot
-
diff --git a/VirtualRobot/examples/RobotViewer/DiffIKWidget.cpp b/VirtualRobot/examples/RobotViewer/DiffIKWidget.cpp
index 2fa4a431698bbbb08fdefb544ab746875a8a4a34..de75728283fb4732818ca3c5c3ba863aae08264b 100644
--- a/VirtualRobot/examples/RobotViewer/DiffIKWidget.cpp
+++ b/VirtualRobot/examples/RobotViewer/DiffIKWidget.cpp
@@ -297,6 +297,8 @@ void DiffIKWidget::updateEndeffectorPoseVis(VirtualRobot::RobotNodeSetPtr robotN
mat->transparency.setValue(0.5);
sep->addChild(mat);
+ using Color = VirtualRobot::CoinVisualizationFactory::Color;
+
if (ui->checkBoxOriIK->isChecked()) {
auto visNode = tcp->getVisualization(VirtualRobot::SceneObject::Full);
auto coinVisNode = std::dynamic_pointer_cast<VirtualRobot::CoinVisualizationNode>(visNode);
@@ -305,11 +307,11 @@ void DiffIKWidget::updateEndeffectorPoseVis(VirtualRobot::RobotNodeSetPtr robotN
sep->addChild(coinVis);
}
else {
- sep->addChild(VirtualRobot::CoinVisualizationFactory::CreateSphere(50, 1, 0, 0));
+ sep->addChild(VirtualRobot::CoinVisualizationFactory::CreateSphere(50, Color::Red()));
}
}
else {
- sep->addChild(VirtualRobot::CoinVisualizationFactory::CreateSphere(50, 1, 0, 0));
+ sep->addChild(VirtualRobot::CoinVisualizationFactory::CreateSphere(50, Color::Red()));
}
endeffectorSep->addChild(sep);
}
diff --git a/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp b/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp
index 2326f0b53e784773254c4d3fae3d16dda58bd9dc..8865b4f574b8e7d66d91bae3af321dccd4319cd5 100644
--- a/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp
+++ b/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp
@@ -445,10 +445,11 @@ void showRobotWindow::updatePointDistanceVisu()
const Eigen::Vector3f dir = (pt1 - pt2).normalized();
const float spherSize = 10;
using Factory = VirtualRobot::CoinVisualizationFactory;
+ using Color = VirtualRobot::CoinVisualizationFactory::Color;
ptDistance.sep->addChild(Factory::CreateArrow(pt2, dir, distance));
- ptDistance.sep->addChild(Factory::CreateSphere(pt, spherSize, 0, 1, 0));
- ptDistance.sep->addChild(Factory::CreateSphere(pt1, spherSize, 0, 0, 1));
- ptDistance.sep->addChild(Factory::CreateSphere(pt2, spherSize, 0, 1, 1));
+ ptDistance.sep->addChild(Factory::CreateSphere(pt, spherSize, Color::Green()));
+ ptDistance.sep->addChild(Factory::CreateSphere(pt1, spherSize, Color::Blue()));
+ ptDistance.sep->addChild(Factory::CreateSphere(pt2, spherSize, Color(0,1,1)));
}
UI.labelDistancePtDist->setText(QString::number(distance));