gepetto::corbaserver::GraphicalInterface Interface Reference

IDL of the graphical interface. More...

import"/root/robotpkg/graphics/gepetto-viewer-corba/work.runner-7gqkM7SY-project-90-concurrent-3/gepetto-viewer-corba-5.3.1/idl/gepetto/viewer/graphical-interface.idl";

Public Member Functions
Windows and scenes
unsigned long	createWindow (in string name) raises (Error)
	Create a new window. More...
unsigned long	getWindowID (in string name) raises (Error)
boolean	setBackgroundColor1 (in unsigned long windowId, in Color RGBAcolor)
	change the background color1 More...
boolean	setBackgroundColor2 (in unsigned long windowId, in Color RGBAcolor)
	change the background color2 More...
void	createScene (in string sceneName) raises (Error)
	Create a group node. More...
void	createSceneWithFloor (in string sceneName) raises (Error)
	Create a group node and a GroudNode ("sceneName/floor") as child. More...
boolean	addSceneToWindow (in string sceneName, in unsigned long windowId) raises (Error)
	Add groupNode sceneName to the WindowManager windowName so sceneName and all its children will be displayed in the window windowName. More...
Node creation
boolean	addFloor (in string floorName) raises (Error)
	create a floor called floorName. More...
boolean	addBox (in string boxName, in float boxSize1, in float boxSize2, in float boxSize3, in Color RGBAcolor) raises (Error)
	create a box called boxName. More...
boolean	addCapsule (in string capsuleName, in float radius, in float height, in Color RGBAcolorid) raises (Error)
	create a box called CapsuleName. More...
boolean	addArrow (in string arrowName, in float radius, in float length, in Color RGBAcolorid) raises (Error)
	create a box called CapsuleName. More...
boolean	addRod (in string rodName, in Color RGBAcolorid, in float radius, in float totalLength, in short maxCapsule) raises (Error)
boolean	resizeCapsule (in string capsuleName, in float height) raises (Error)
	resize the capsule CapsuleName. More...
boolean	resizeArrow (in string capsuleName, in float radius, in float length) raises (Error)
boolean	addMesh (in string meshName, in string meshPath) raises (Error)
	create a node to display a mesh (works for .dae, .obj and some other formats) More...
boolean	addCone (in string coneName, in float radius, in float height, in Color RGBAcolor) raises (Error)
	create a node to display a mesh (works for .dae, .obj and some other formats) More...
boolean	addCylinder (in string cylinderName, in float radius, in float height, in Color RGBAcolor) raises (Error)
	create a Cyllinder called cylinderName More...
boolean	addSphere (in string sphereName, in float radius, in Color RGBAcolor) raises (Error)
	create a sphere called sphereName More...
boolean	addLight (in string lightName, in WindowID wid, in float radius, in Color RGBAcolor) raises (Error)
	create a light called lightName More...
boolean	addLine (in string lineName, in Position pos1, in Position pos2, in Color RGBAcolor) raises (Error)
	create a line called lineName. More...
boolean	setLineStartPoint (in string lineName, in Position pos1) raises (Error)
	change starting point position of a line. More...
boolean	setLineEndPoint (in string lineName, in Position pos2) raises (Error)
	change terminal point position of a line. More...
boolean	setLineExtremalPoints (in string lineName, in Position pos1, in Position pos2) raises (Error)
	change extremity positions of a line. More...
boolean	addCurve (in string curveName, in PositionSeq pos, in Color RGBAcolor) raises (Error)
	create a curve called curveName. More...
boolean	setCurvePoints (in string curveName, in PositionSeq pos) raises (Error)
	set points of a curve called curveName. More...
boolean	setCurveMode (in string curveName, in string mode) raises (Error)
boolean	setCurvePointsSubset (in string curveName, in long first, in long count) raises (Error)
boolean	setCurveLineWidth (in string curveName, in float width) raises (Error)
boolean	addSquareFace (in string faceName, in Position pos1, in Position pos2, in Position pos3, in Position pos4, in Color RGBAcolor) raises (Error)
	create a four vertices face called faceName. More...
boolean	setTexture (in string nodeName, in string filename) raises (Error)
	Set a texture to a face. More...
boolean	addTriangleFace (in string faceName, in Position pos1, in Position pos2, in Position pos3, in Color RGBAcolor) raises (Error)
	create a three vertices face called faceName. More...
boolean	addXYZaxis (in string nodeName, in Color RGBAcolor, in float radius, in float sizeAxis) raises (Error)
boolean	createRoadmap (in string nameCorba, in Color RGBAcolorNode, in float radius, in float sizeAxis, in Color RGBAcolorEdge) raises (Error)
boolean	addEdgeToRoadmap (in string nameRoadmap, in Position posFrom, in Position posTo) raises (Error)
boolean	addNodeToRoadmap (in string nameRoadmap, in Transform configuration) raises (Error)
boolean	addURDF (in string robotName, in string urdfFilePath, in string meshDataRootDir) raises (Error)
	Create a node from an urdf file. More...
boolean	addUrdfCollision (in string robotName, in string urdfFilePath, in string meshDataRootDir) raises (Error)
	Create a node from an urdf file. More...
void	addUrdfObjects (in string nodeName, in string urdfFilePath, in string meshDataRootDir, in boolean visual) raises (Error)
	Create a node from an urdf file. More...
boolean	createGroup (in string groupName) raises (Error)
	create a groupNode called groupName More...
Node tree manipulation
boolean	nodeExists (in string nodeName) raises (Error)
	Check if nodeName is an existing node. More...
void	deleteNode (in string nodeName, in boolean all) raises (Error)
	Delete node from visualiser. More...
Names_t	getNodeList () raises (Error)
	Print names of nodes on the SceneViewer-corbaserver terminal and return them in an array. More...
Names_t	getGroupNodeList (in string group) raises (Error)
	Print names of a group nodes on the SceneViewer-corbaserver terminal and return them in an array. More...
Names_t	getSceneList () raises (Error)
	Get the list of group (i.e. scene) nodes. More...
Names_t	getWindowList () raises (Error)
	Print names of windows on the SceneViewer-corbaserver terminal. More...
boolean	addToGroup (in string nodeName, in string groupName) raises (Error)
	set a node as child to a group node. More...
boolean	removeFromGroup (in string nodeName, in string groupName) raises (Error)
	remove the node from the child list of a group node. More...
Node configuration
boolean	applyConfiguration (in string nodeName, in Transform configuration) raises (Error)
	Set a new configuration to a node. More...
boolean	applyConfigurations (in Names_t nodeName, in TransformSeq configuration) raises (Error)
	Same as applyConfiguration on a list of node name and configuration. More...
void	refresh () raises (Error)
	Change configurations according to the last applyConfigurations.d. More...
void	setRefreshIsSynchronous (in boolean synchonous) raises (Error)
	Set to false if you do not want refresh to be synchronized with the rendering loop. More...
Transform	getNodeGlobalTransform (in string nodeName) raises (Error)
	Return the Position + Quaternion orientation of an object in the global frame. More...
Node properties
boolean	addLandmark (in string nodeName, in float size) raises (Error)
	Add Landmark at the center of a node The colors are x=red, y=green, z=blue (xyz=RGB). More...
boolean	deleteLandmark (in string nodeName) raises (Error)
	delete Landmark of a node. More...
Transform	getStaticTransform (in string nodeName) raises (Error)
	get the static transform of the node More...
boolean	setStaticTransform (in string nodeName, in Transform configuration) raises (Error)
	set the static transform of the node More...
boolean	setVisibility (in string nodeName, in string visibilityMode) raises (Error)
	Change the visibility of a node. More...
boolean	setScale (in string nodeName, in Position scale) raises (Error)
	Change the scale of a node. More...
boolean	setColor (in string nodeName, in Color scale) raises (Error)
	Change the color of a node. More...
boolean	setWireFrameMode (in string nodeName, in string wireFrameMode) raises (Error)
	Change wireframe mode of a node. More...
boolean	setLightingMode (in string nodeName, in string lightingMode) raises (Error)
	Change lighting mode of a node. More...
boolean	setHighlight (in string nodeName, in long state) raises (Error)
	Change the highlight status. More...
Names_t	getPropertyNames (in string nodeName) raises (Error)
Names_t	getPropertyTypes (in string nodeName) raises (Error)
void	setStringProperty (in string nodeName, in string propName, in string value) raises (Error)
string	getStringProperty (in string nodeName, in string propName) raises (Error)
void	setColorProperty (in string nodeName, in string propName, in Color value) raises (Error)
Color	getColorProperty (in string nodeName, in string propName) raises (Error)
void	setVector3Property (in string nodeName, in string propName, in Position value) raises (Error)
Position	getVector3Property (in string nodeName, in string propName) raises (Error)
void	setVector2Property (in string nodeName, in string propName, in Vector2 value) raises (Error)
Position	getVector2Property (in string nodeName, in string propName) raises (Error)
void	setFloatProperty (in string nodeName, in string propName, in float value) raises (Error)
float	getFloatProperty (in string nodeName, in string propName) raises (Error)
void	setBoolProperty (in string nodeName, in string propName, in boolean value) raises (Error)
boolean	getBoolProperty (in string nodeName, in string propName) raises (Error)
void	setIntProperty (in string nodeName, in string propName, in long value) raises (Error)
long	getIntProperty (in string nodeName, in string propName) raises (Error)
Export of scenes to images or to blender
See gepetto.gui.Plugin
void	captureFrame (in WindowID wid, in string imageFilename) raises (Error)
boolean	startCapture (in unsigned long windowId, in string filename, in string extension) raises (Error)
	Start capturing a window into image files. More...
boolean	stopCapture (in unsigned long windowId) raises (Error)
	Stop the running capture of a window. More...
boolean	setCaptureTransform (in string filename, in Names_t nodeNames) raises (Error)
	Configure the capture of node transformation in YAML format. More...
void	captureTransformOnRefresh (in boolean autoCapture) raises (Error)
	Change status of automatic capture on refresh. More...
void	captureTransform () raises (Error)
	Write current configuration to the motion file. More...
boolean	writeBlenderScript (in string filename, in Names_t nodeNames) raises (Error)
	Export the nodes for blender. More...
boolean	writeNodeFile (in string nodeName, in string filename) raises (Error)
	Write a node and its children to filename. More...
boolean	writeWindowFile (in unsigned long windowId, in string filename) raises (Error)
	Write the nodes contained in the window to filename. More...
Camera manipulation
boolean	attachCameraToNode (in string nodeName, in unsigned long windowId) raises (Error)
	Attach the camera to the Node nodeName in the WindowManager pointed by windowId If already attached, detach from the other node. More...
boolean	detachCamera (in unsigned long windowId) raises (Error)
	Detach the camera of WindowManager pointed by windowId from any node. More...
Transform	getCameraTransform (in unsigned long windowId) raises (Error)
	get the matrix transform of the current position of the camera Camera frame convention (OpenSceneGraph): looking through the optic axis as a photographer, axis are: X -> right, Y -> up, Z -> behind It corresponds to Hartley and Zisserman's frame convention with a 180° rotation around the Y axis More...
boolean	setCameraTransform (in unsigned long windowId, in Transform configuration) raises (Error)
	set the matrix transform of the current camera Camera frame convention (OpenSceneGraph): looking through the optic axis as a photographer, axis are: X -> right, Y -> up, Z -> behind It corresponds to Hartley and Zisserman's frame convention with a 180° rotation around the Y axis More...
boolean	registerNodeCallback (in NodeCallback cb) raises (Error)

Detailed Description

IDL of the graphical interface.

It contains the following groups:

• Windows and scenes
• Node creation
• Node tree manipulation
• Node configuration
• Node properties
• Export of scenes to images or to blender
• Camera manipulation

Member Function Documentation

boolean gepetto::corbaserver::GraphicalInterface::addArrow	(	in string	arrowName,
		in float	radius,
		in float	length,
		in Color	RGBAcolorid
	)
raises	(	Error
	)

create a box called CapsuleName.

Parameters

input	CapsuleName : name of the arrow.
input	radius : radius of the arrow
input	length : lenght of the arrow
input	RGBAcolor : Color of the capsule.

boolean gepetto::corbaserver::GraphicalInterface::addBox	(	in string	boxName,
		in float	boxSize1,
		in float	boxSize2,
		in float	boxSize3,
		in Color	RGBAcolor
	)
raises	(	Error
	)

create a box called boxName.

Parameters

input	boxName : name of the box.
input	boxSize1 : lenght of the box (x axis).
input	boxSize2 : lenght of the box (y axis).
input	boxSize3 : lenght of the box (z axis).
input	RGBAcolor : Color of the box.

boolean gepetto::corbaserver::GraphicalInterface::addCapsule	(	in string	capsuleName,
		in float	radius,
		in float	height,
		in Color	RGBAcolorid
	)
raises	(	Error
	)

create a box called CapsuleName.

Parameters

input	CapsuleName : name of the capsule.
input	radius : radius of the capsule.
input	height : lenght of the segment that generates the capsule.
input	RGBAcolor : Color of the capsule.

boolean gepetto::corbaserver::GraphicalInterface::addCone	(	in string	coneName,
		in float	radius,
		in float	height,
		in Color	RGBAcolor
	)
raises	(	Error
	)

create a node to display a mesh (works for .dae, .obj and some other formats)

Parameters

input	meshName : name of the new meshNode.
input	meshPath : full path to the mesh file.

boolean gepetto::corbaserver::GraphicalInterface::addCurve	(	in string	curveName,
		in PositionSeq	pos,
		in Color	RGBAcolor
	)
raises	(	Error
	)

create a curve called curveName.

The curve is the graph of the piecewise linear interpolation between each consecutive pos.

Parameters

input	lineName : name of the line.
input	pos : waypoints of the curve.
input	RGBAcolor : color of the line.

boolean gepetto::corbaserver::GraphicalInterface::addCylinder	(	in string	cylinderName,
		in float	radius,
		in float	height,
		in Color	RGBAcolor
	)
raises	(	Error
	)

create a Cyllinder called cylinderName

Parameters

input	cylinderName : name of the cylinder.
input	radius : radius of the cylinder.
input	height : lenght of the cylinder.
input	RGBAcolor : color of the cylinder.

boolean gepetto::corbaserver::GraphicalInterface::addEdgeToRoadmap	(	in string	nameRoadmap,
		in Position	posFrom,
		in Position	posTo
	)
raises	(	Error
	)

boolean gepetto::corbaserver::GraphicalInterface::addFloor	(	in string	floorName	)
raises	(	Error
	)

create a floor called floorName.

Parameters

input

floorName : name of the floor.

boolean gepetto::corbaserver::GraphicalInterface::addLandmark	(	in string	nodeName,
		in float	size
	)
raises	(	Error
	)

Add Landmark at the center of a node The colors are x=red, y=green, z=blue (xyz=RGB).

Parameters

input	nodeName : name of the node
input	size : lenght of axises.

boolean gepetto::corbaserver::GraphicalInterface::addLight	(	in string	lightName,
		in WindowID	wid,
		in float	radius,
		in Color	RGBAcolor
	)
raises	(	Error
	)

create a light called lightName

Parameters

input	lightName : name of the light.
input	radius : radius of the bulb showing the light.
input	RGBAcolor : color of the light.

boolean gepetto::corbaserver::GraphicalInterface::addLine	(	in string	lineName,
		in Position	pos1,
		in Position	pos2,
		in Color	RGBAcolor
	)
raises	(	Error
	)

create a line called lineName.

Parameters

input	lineName : name of the line.
input	pos1 : position one extremity of the line.
input	pos2 : position the other extremity of the line.
input	RGBAcolor : color of the line.

boolean gepetto::corbaserver::GraphicalInterface::addMesh	(	in string	meshName,
		in string	meshPath
	)
raises	(	Error
	)

create a node to display a mesh (works for .dae, .obj and some other formats)

Parameters

input	meshName : name of the new meshNode.
input	meshPath : full path to the mesh file.

boolean gepetto::corbaserver::GraphicalInterface::addNodeToRoadmap	(	in string	nameRoadmap,
		in Transform	configuration
	)
raises	(	Error
	)

boolean gepetto::corbaserver::GraphicalInterface::addRod	(	in string	rodName,
		in Color	RGBAcolorid,
		in float	radius,
		in float	totalLength,
		in short	maxCapsule
	)
raises	(	Error
	)

boolean gepetto::corbaserver::GraphicalInterface::addSceneToWindow	(	in string	sceneName,
		in unsigned long	windowId
	)
raises	(	Error
	)

Add groupNode sceneName to the WindowManager windowName so sceneName and all its children will be displayed in the window windowName.

Parameters

input	sceneName : name of the groupNode.
input	windowId : ID of rhe window.

boolean gepetto::corbaserver::GraphicalInterface::addSphere	(	in string	sphereName,
		in float	radius,
		in Color	RGBAcolor
	)
raises	(	Error
	)

create a sphere called sphereName

Parameters

input	sphereName : name of the sphere.
input	radius : radius of the sphere.
input	RGBAcolor : color of the sphere.

boolean gepetto::corbaserver::GraphicalInterface::addSquareFace	(	in string	faceName,
		in Position	pos1,
		in Position	pos2,
		in Position	pos3,
		in Position	pos4,
		in Color	RGBAcolor
	)
raises	(	Error
	)

create a four vertices face called faceName.

Parameters

input	faceName : name of the face.
input	pos1, pos2, pos3, pos4 : position of the vertices.
input	RGBAcolor : color of the face.

boolean gepetto::corbaserver::GraphicalInterface::addToGroup	(	in string	nodeName,
		in string	groupName
	)
raises	(	Error
	)

set a node as child to a group node.

Parameters

input	nodeName : name of the child node.
input	groupName : name of the mother node (=group node).

boolean gepetto::corbaserver::GraphicalInterface::addTriangleFace	(	in string	faceName,
		in Position	pos1,
		in Position	pos2,
		in Position	pos3,
		in Color	RGBAcolor
	)
raises	(	Error
	)

create a three vertices face called faceName.

Parameters

input	faceName : name of the face.
input	pos1, pos2, pos3 : position of the vertices.
input	RGBAcolor : color of the face.

boolean gepetto::corbaserver::GraphicalInterface::addURDF	(	in string	robotName,
		in string	urdfFilePath,
		in string	meshDataRootDir
	)
raises	(	Error
	)

Create a node from an urdf file.

Parameters

robotName	Name of the node that will contain the robot geometry, each geometric part is prefixed by this name,
urdfFilePath	to the package containing the urdf file, i.e. "/opt/ros/hydro/share/pr2_description",
meshDataRootDir	path to the package that contains the collada files, this path should finish by "/", i.e. "/opt/ros/hydro/share/"

Note

the parser will replace "package://" by meshDataRootDir in the urdf file. a groupNode is created and each link will be child node of this node. Links are named "prefix/linkName", linkName is the name of the link in the URDF file.

boolean gepetto::corbaserver::GraphicalInterface::addUrdfCollision	(	in string	robotName,
		in string	urdfFilePath,
		in string	meshDataRootDir
	)
raises	(	Error
	)

Create a node from an urdf file.

Parameters

robotName	Name of the node that will contain the robot geometry, each geometric part is prefixed by this name,
urdfFilePath	to the package containing the urdf file, i.e. "/opt/ros/hydro/share/pr2_description",
meshDataRootDir	path to the package that contains the collada files, this path should finish by "/", i.e. "/opt/ros/hydro/share/"

Note

the parser will replace "package://" by meshDataRootDir in the urdf file. a groupNode is created and each link will be child node of this node. Links are named "prefix/linkName", linkName is the name of the link in the URDF file.

Unlike addURDF, this method will load the collision geometry instead of the visual geometry.

void gepetto::corbaserver::GraphicalInterface::addUrdfObjects	(	in string	nodeName,
		in string	urdfFilePath,
		in string	meshDataRootDir,
		in boolean	visual
	)
raises	(	Error
	)

Create a node from an urdf file.

Parameters

nodeName	Name of the node that will contain the objects, each object is prefixed by this name,
urdfFilePath	to the package containing the urdf file, i.e. "/opt/ros/hydro/share/pr2_description",
meshDataRootDir	path to the package that contains the collada files, this path should finish by "/", i.e. "/opt/ros/hydro/share/"

Note

the parser will replace "package://" by meshDataRootDir in the urdf file,

visual whether to load collision or visual geometry. a groupNode is created and each object will be child node of this node. Objects are named "prefix/linkName", linkName is the name of the link in the URDF file. Unlike addURDF and addUrdfCollision, the node frame corresponds to the position of objects hold by the links and not to the position of objects.

boolean gepetto::corbaserver::GraphicalInterface::addXYZaxis	(	in string	nodeName,
		in Color	RGBAcolor,
		in float	radius,
		in float	sizeAxis
	)
raises	(	Error
	)

boolean gepetto::corbaserver::GraphicalInterface::applyConfiguration	(	in string	nodeName,
		in Transform	configuration
	)
raises	(	Error
	)

Set a new configuration to a node.

THIS CONFIGURATION WILL AFFECTIVE ONLY AFTER CALLING REFRESH FUNCTION!!!

Parameters

input	nodeName : name of the node.
input	configuration : Float[7] new configuration.

boolean gepetto::corbaserver::GraphicalInterface::applyConfigurations	(	in Names_t	nodeName,
		in TransformSeq	configuration
	)
raises	(	Error
	)

Same as applyConfiguration on a list of node name and configuration.

Both input list should be of same length.

boolean gepetto::corbaserver::GraphicalInterface::attachCameraToNode	(	in string	nodeName,
		in unsigned long	windowId
	)
raises	(	Error
	)

Attach the camera to the Node nodeName in the WindowManager pointed by windowId If already attached, detach from the other node.

Parameters

input	nodeName : name of the node
input	windowId : ID of the window

void gepetto::corbaserver::GraphicalInterface::captureFrame	(	in WindowID	wid,
		in string	imageFilename
	)
raises	(	Error
	)

void gepetto::corbaserver::GraphicalInterface::captureTransform	(		)
raises	(	Error
	)

Write current configuration to the motion file.

void gepetto::corbaserver::GraphicalInterface::captureTransformOnRefresh	(	in boolean	autoCapture	)
raises	(	Error
	)

Change status of automatic capture on refresh.

boolean gepetto::corbaserver::GraphicalInterface::createGroup	(	in string	groupName	)
raises	(	Error
	)

create a groupNode called groupName

Parameters

input

groupName : name of the group.

boolean gepetto::corbaserver::GraphicalInterface::createRoadmap	(	in string	nameCorba,
		in Color	RGBAcolorNode,
		in float	radius,
		in float	sizeAxis,
		in Color	RGBAcolorEdge
	)
raises	(	Error
	)

void gepetto::corbaserver::GraphicalInterface::createScene	(	in string	sceneName	)
raises	(	Error
	)

Create a group node.

Parameters

input

sceneName : name of the group.

void gepetto::corbaserver::GraphicalInterface::createSceneWithFloor	(	in string	sceneName	)
raises	(	Error
	)

Create a group node and a GroudNode ("sceneName/floor") as child.

Parameters

input

sceneName : name of the group

unsigned long gepetto::corbaserver::GraphicalInterface::createWindow	(	in string	name	)
raises	(	Error
	)

Create a new window.

Parameters

input

name : name of the new window. return the ID of the newly create window.

boolean gepetto::corbaserver::GraphicalInterface::deleteLandmark	(	in string	nodeName	)
raises	(	Error
	)

delete Landmark of a node.

Parameters

input

nodeName : name of the node

void gepetto::corbaserver::GraphicalInterface::deleteNode	(	in string	nodeName,
		in boolean	all
	)
raises	(	Error
	)

Delete node from visualiser.

Parameters

all	if nodeName is a group node and all is True, nodes are deleted recursively.

boolean gepetto::corbaserver::GraphicalInterface::detachCamera	(	in unsigned long	windowId	)
raises	(	Error
	)

Detach the camera of WindowManager pointed by windowId from any node.

Parameters

input

windowId : ID of the window

boolean gepetto::corbaserver::GraphicalInterface::getBoolProperty	(	in string	nodeName,
		in string	propName
	)
raises	(	Error
	)

Transform gepetto::corbaserver::GraphicalInterface::getCameraTransform	(	in unsigned long	windowId	)
raises	(	Error
	)

get the matrix transform of the current position of the camera Camera frame convention (OpenSceneGraph): looking through the optic axis as a photographer, axis are: X -> right, Y -> up, Z -> behind It corresponds to Hartley and Zisserman's frame convention with a 180° rotation around the Y axis

Parameters

input

windowId : ID of the window

Color gepetto::corbaserver::GraphicalInterface::getColorProperty	(	in string	nodeName,
		in string	propName
	)
raises	(	Error
	)

float gepetto::corbaserver::GraphicalInterface::getFloatProperty	(	in string	nodeName,
		in string	propName
	)
raises	(	Error
	)

Names_t gepetto::corbaserver::GraphicalInterface::getGroupNodeList	(	in string	group	)
raises	(	Error
	)

Print names of a group nodes on the SceneViewer-corbaserver terminal and return them in an array.

Parameters

input

name : name of the new window.

Returns

the list of node names contained in the group

long gepetto::corbaserver::GraphicalInterface::getIntProperty	(	in string	nodeName,
		in string	propName
	)
raises	(	Error
	)

Transform gepetto::corbaserver::GraphicalInterface::getNodeGlobalTransform	(	in string	nodeName	)
raises	(	Error
	)

Return the Position + Quaternion orientation of an object in the global frame.

Parameters

input

nodeName : name of the node.

Returns

a length 7 array

Names_t gepetto::corbaserver::GraphicalInterface::getNodeList	(		)
raises	(	Error
	)

Print names of nodes on the SceneViewer-corbaserver terminal and return them in an array.

Returns

the list of node names contained in the scene

Names_t gepetto::corbaserver::GraphicalInterface::getPropertyNames	(	in string	nodeName	)
raises	(	Error
	)

Names_t gepetto::corbaserver::GraphicalInterface::getPropertyTypes	(	in string	nodeName	)
raises	(	Error
	)

Names_t gepetto::corbaserver::GraphicalInterface::getSceneList	(		)
raises	(	Error
	)

Get the list of group (i.e. scene) nodes.

Transform gepetto::corbaserver::GraphicalInterface::getStaticTransform	(	in string	nodeName	)
raises	(	Error
	)

get the static transform of the node

Parameters

input

nodeName : name of the node

string gepetto::corbaserver::GraphicalInterface::getStringProperty	(	in string	nodeName,
		in string	propName
	)
raises	(	Error
	)

Position gepetto::corbaserver::GraphicalInterface::getVector2Property	(	in string	nodeName,
		in string	propName
	)
raises	(	Error
	)

Position gepetto::corbaserver::GraphicalInterface::getVector3Property	(	in string	nodeName,
		in string	propName
	)
raises	(	Error
	)

unsigned long gepetto::corbaserver::GraphicalInterface::getWindowID	(	in string	name	)
raises	(	Error
	)

Names_t gepetto::corbaserver::GraphicalInterface::getWindowList	(		)
raises	(	Error
	)

Print names of windows on the SceneViewer-corbaserver terminal.

boolean gepetto::corbaserver::GraphicalInterface::nodeExists	(	in string	nodeName	)
raises	(	Error
	)

Check if nodeName is an existing node.

Parameters

nodeName

name of the node

void gepetto::corbaserver::GraphicalInterface::refresh	(		)
raises	(	Error
	)

Change configurations according to the last applyConfigurations.d.

boolean gepetto::corbaserver::GraphicalInterface::registerNodeCallback	(	in NodeCallback	cb	)
raises	(	Error
	)

boolean gepetto::corbaserver::GraphicalInterface::removeFromGroup	(	in string	nodeName,
		in string	groupName
	)
raises	(	Error
	)

remove the node from the child list of a group node.

Parameters

input	nodeName : name of the child node.
input	groupName : name of the mother node (=group node).

boolean gepetto::corbaserver::GraphicalInterface::resizeArrow	(	in string	capsuleName,
		in float	radius,
		in float	length
	)
raises	(	Error
	)

boolean gepetto::corbaserver::GraphicalInterface::resizeCapsule	(	in string	capsuleName,
		in float	height
	)
raises	(	Error
	)

resize the capsule CapsuleName.

Parameters

input	CapsuleName : name of the capsule.
input	height : lenght of the segment that generates the capsule.

boolean gepetto::corbaserver::GraphicalInterface::setBackgroundColor1	(	in unsigned long	windowId,
		in Color	RGBAcolor
	)

change the background color1

Parameters

input	windowId : ID of the window
input	RGBAcolor : desired color

boolean gepetto::corbaserver::GraphicalInterface::setBackgroundColor2	(	in unsigned long	windowId,
		in Color	RGBAcolor
	)

change the background color2

Parameters

input	windowId : ID of the window
input	RGBAcolor : desired color

void gepetto::corbaserver::GraphicalInterface::setBoolProperty	(	in string	nodeName,
		in string	propName,
		in boolean	value
	)
raises	(	Error
	)

boolean gepetto::corbaserver::GraphicalInterface::setCameraTransform	(	in unsigned long	windowId,
		in Transform	configuration
	)
raises	(	Error
	)

set the matrix transform of the current camera Camera frame convention (OpenSceneGraph): looking through the optic axis as a photographer, axis are: X -> right, Y -> up, Z -> behind It corresponds to Hartley and Zisserman's frame convention with a 180° rotation around the Y axis

Parameters

input	windowId : ID of the window
input	configuration : the desired configuration of the camera

boolean gepetto::corbaserver::GraphicalInterface::setCaptureTransform	(	in string	filename,
		in Names_t	nodeNames
	)
raises	(	Error
	)

Configure the capture of node transformation in YAML format.

Parameters

filename	file where to write.
nodeName	name of the node to be captured (all children will also be captured)

boolean gepetto::corbaserver::GraphicalInterface::setColor	(	in string	nodeName,
		in Color	scale
	)
raises	(	Error
	)

Change the color of a node.

Parameters

input	nodeName : name of the node.
input	color : new color

void gepetto::corbaserver::GraphicalInterface::setColorProperty	(	in string	nodeName,
		in string	propName,
		in Color	value
	)
raises	(	Error
	)

boolean gepetto::corbaserver::GraphicalInterface::setCurveLineWidth	(	in string	curveName,
		in float	width
	)
raises	(	Error
	)

boolean gepetto::corbaserver::GraphicalInterface::setCurveMode	(	in string	curveName,
		in string	mode
	)
raises	(	Error
	)

Parameters

mode	The list of possible GL modes is provided in graphics::WindowsManager::setCurveMode. From the GL modes, remove "GL_" and put it lower case.

boolean gepetto::corbaserver::GraphicalInterface::setCurvePoints	(	in string	curveName,
		in PositionSeq	pos
	)
raises	(	Error
	)

set points of a curve called curveName.

Parameters

input	lineName : name of the line.
input	pos : waypoints of the curve.

boolean gepetto::corbaserver::GraphicalInterface::setCurvePointsSubset	(	in string	curveName,
		in long	first,
		in long	count
	)
raises	(	Error
	)

void gepetto::corbaserver::GraphicalInterface::setFloatProperty	(	in string	nodeName,
		in string	propName,
		in float	value
	)
raises	(	Error
	)

boolean gepetto::corbaserver::GraphicalInterface::setHighlight	(	in string	nodeName,
		in long	state
	)
raises	(	Error
	)

Change the highlight status.

Parameters

input	nodeName : name of the node.
input	state : 0 for off, 1 or 2 for other things.

void gepetto::corbaserver::GraphicalInterface::setIntProperty	(	in string	nodeName,
		in string	propName,
		in long	value
	)
raises	(	Error
	)

boolean gepetto::corbaserver::GraphicalInterface::setLightingMode	(	in string	nodeName,
		in string	lightingMode
	)
raises	(	Error
	)

Change lighting mode of a node.

If this node is a group node, lighting mode will be apply to all children.

Parameters

input	nodeName : name of the node.
input	lightingMode : lighting mode can be "ON" or "OFF".

boolean gepetto::corbaserver::GraphicalInterface::setLineEndPoint	(	in string	lineName,
		in Position	pos2
	)
raises	(	Error
	)

change terminal point position of a line.

Parameters

input	lineName : name of the line.
input	pos2 : position of the second extremity of the line.

boolean gepetto::corbaserver::GraphicalInterface::setLineExtremalPoints	(	in string	lineName,
		in Position	pos1,
		in Position	pos2
	)
raises	(	Error
	)

change extremity positions of a line.

Parameters

input	lineName : name of the line.
input	pos1 : position one extremity of the line.
input	pos2 : position of the second extremity of the line.

boolean gepetto::corbaserver::GraphicalInterface::setLineStartPoint	(	in string	lineName,
		in Position	pos1
	)
raises	(	Error
	)

change starting point position of a line.

Parameters

input	lineName : name of the line.
input	pos1 : position of the first extremity of the line.

void gepetto::corbaserver::GraphicalInterface::setRefreshIsSynchronous	(	in boolean	synchonous	)
raises	(	Error
	)

Set to false if you do not want refresh to be synchronized with the rendering loop.

Note

This is an experimental features.

boolean gepetto::corbaserver::GraphicalInterface::setScale	(	in string	nodeName,
		in Position	scale
	)
raises	(	Error
	)

Change the scale of a node.

Parameters

input	nodeName : name of the node.
input	scale : new scale

boolean gepetto::corbaserver::GraphicalInterface::setStaticTransform	(	in string	nodeName,
		in Transform	configuration
	)
raises	(	Error
	)

set the static transform of the node

Parameters

input	nodeName : name of the node
input	configuration : static configuration of the node

void gepetto::corbaserver::GraphicalInterface::setStringProperty	(	in string	nodeName,
		in string	propName,
		in string	value
	)
raises	(	Error
	)

boolean gepetto::corbaserver::GraphicalInterface::setTexture	(	in string	nodeName,
		in string	filename
	)
raises	(	Error
	)

Set a texture to a face.

Parameters

nodeName	name of the node containing the face
filename	where the image is stored

Note

Node should be a square face.

void gepetto::corbaserver::GraphicalInterface::setVector2Property	(	in string	nodeName,
		in string	propName,
		in Vector2	value
	)
raises	(	Error
	)

void gepetto::corbaserver::GraphicalInterface::setVector3Property	(	in string	nodeName,
		in string	propName,
		in Position	value
	)
raises	(	Error
	)

boolean gepetto::corbaserver::GraphicalInterface::setVisibility	(	in string	nodeName,
		in string	visibilityMode
	)
raises	(	Error
	)

Change the visibility of a node.

If this node is a group node, visibility mode will be apply to all children.

Parameters

input	nodeName : name of the node.
input	visibilityMode : visibility mode can be "ON", "OFF" or "ALWAYS_ON_TOP".

boolean gepetto::corbaserver::GraphicalInterface::setWireFrameMode	(	in string	nodeName,
		in string	wireFrameMode
	)
raises	(	Error
	)

Change wireframe mode of a node.

If this node is a group node, wireframe mode will be apply to all children.

Parameters

input	nodeName : name of the node.
input	wireframeMode : wiredframe mode can be "FILL", "WIREFRAME" or "FILL_AND_WIREFRAME".

boolean gepetto::corbaserver::GraphicalInterface::startCapture	(	in unsigned long	windowId,
		in string	filename,
		in string	extension
	)
raises	(	Error
	)

Start capturing a window into image files.

Parameters

windowId	the ID of the window
filename,extension	image files will be '<filename>_<sequence_number>.<extension>'

To make a movie from the sequence of images, you can run:

avconv -r 25 -i capture_%6d.png -vf crop=1908:1000:0:0 -r 25 -pix_fmt yuv420p -c:v libx264 ../video2.mp4

Note

• libx264 is not installed by default. On ubuntu 12.04, it is part of the package libavcodec-extra-53.
• yuv420p is required only to enable support for old media players.

boolean gepetto::corbaserver::GraphicalInterface::stopCapture	(	in unsigned long	windowId	)
raises	(	Error
	)

Stop the running capture of a window.

boolean gepetto::corbaserver::GraphicalInterface::writeBlenderScript	(	in string	filename,
		in Names_t	nodeNames
	)
raises	(	Error
	)

Export the nodes for blender.

Append a python3 script corresponding the nodes, to be loaded by the blender gepetto plugin.

boolean gepetto::corbaserver::GraphicalInterface::writeNodeFile	(	in string	nodeName,
		in string	filename
	)
raises	(	Error
	)

Write a node and its children to filename.

boolean gepetto::corbaserver::GraphicalInterface::writeWindowFile	(	in unsigned long	windowId,
		in string	filename
	)
raises	(	Error
	)

Write the nodes contained in the window to filename.