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// |
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// test.cpp |
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// Test for SceneViwer |
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// |
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// Created by Mathieu Geisert in November 2014. |
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// Copyright (c) 2014 LAAS-CNRS. All rights reserved. |
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// |
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#include <gepetto/viewer/group-node.h> |
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#include <gepetto/viewer/leaf-node-box.h> |
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#include <gepetto/viewer/leaf-node-capsule.h> |
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#include <gepetto/viewer/leaf-node-collada.h> |
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#include <gepetto/viewer/leaf-node-cone.h> |
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#include <gepetto/viewer/leaf-node-cylinder.h> |
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#include <gepetto/viewer/leaf-node-face.h> |
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#include <gepetto/viewer/leaf-node-ground.h> |
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#include <gepetto/viewer/leaf-node-line.h> |
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#include <gepetto/viewer/leaf-node-sphere.h> |
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#include <gepetto/viewer/node.h> |
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#include <gepetto/viewer/urdf-parser.h> |
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#include <gepetto/viewer/window-manager.h> |
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#include <iostream> |
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int main(int, const char**) |
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{ |
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using namespace gepetto::viewer; |
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LeafNodeBoxPtr_t box = |
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LeafNodeBox::create("box1", osgVector3(0.1f, 0.2f, 0.3f)); |
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/*LeafNodeCapsulePtr_t capsule = LeafNodeCapsule::create("capsule1", 1,1); |
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LeafNodeConePtr_t cone = LeafNodeCone::create("cone", 1,1); |
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LeafNodeCylinderPtr_t cylindre = LeafNodeCylinder::create("cylindre", 1,1); |
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LeafNodeSpherePtr_t sphere = LeafNodeSphere::create("sphere", 1); |
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LeafNodeGroundPtr_t ground = LeafNodeGround::create("ground");*/ |
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// LeafNodeColladaPtr_t collada = |
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// LeafNodeCollada::create("collada","/home/simeval/AluminumChair.dae"); |
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box->addLandmark(1.); |
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// LeafNodeLinePtr_t line = LeafNodeLine::create(std::string("line"), |
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// osgVector3(1.0,1.0,1.0), osgVector3(0.0,0.0,0.0)); LeafNodeFacePtr_t face = |
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// LeafNodeFace::create(std::string("face"), osgVector3(0.0,0.0,0.0), |
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// osgVector3(-2.0,0.0,0.0), osgVector3(-2.0,-2.0,0.0), |
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// osgVector3(0.0,-2.0,0.0)); face->addVertex(osgVector3(0.,0.,2.)); |
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GroupNodePtr_t world = GroupNode::create(std::string("world")); |
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// GroupNodePtr_t robot = GroupNode::create(std::string("robot")); |
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// GroupNodePtr_t robot = urdfParser::parse(std::string("hrp2"), |
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// std::string("/home/ostasse/devel/ros-indigo-1/install/share/hrp2_14_description/urdf/hrp2_14.urdf"), |
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// std::string("/home/ostasse/devel/ros-indigo-1/install/share/")); |
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world->addChild(box); |
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/*world->addChild(obstacle); |
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DefVector3 position1(2.,0.,0.); |
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DefQuat attitude1(1.,0.,0.,0.); |
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Tools::ConfigurationPtr_t config1 = Tools::Configuration::create(position1, |
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attitude1); DefVector3 position2(0.,2.,0.); DefQuat attitude2(1.,0.,0.,0.); |
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Tools::ConfigurationPtr_t config2 = Tools::Configuration::create(position2, |
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attitude2); |
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robot->addChild(box); |
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robot->applyConfiguration(config1); |
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box->applyConfiguration(config1); |
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robot->addChild(capsule); |
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capsule->setVisibilityMode(VISIBILITY_OFF); |
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robot->addChild(cone); |
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cone->applyConfiguration(config2); |
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cone->setColor(osgVector4(1.,1.,0.5,1.)); |
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cone->setVisibilityMode(VISIBILITY_ON); |
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DefVector3 position3(0.,0.,8.); |
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DefQuat attitude3(1.,0.,0.,0.); |
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Tools::ConfigurationPtr_t config3 = Tools::Configuration::create(position3, |
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attitude3); obstacle->applyConfiguration(config3); |
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obstacle->addChild(cylindre); |
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sphere->applyConfiguration(config2); |
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obstacle->addChild(sphere); |
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sphere->setAlpha(0.1f); |
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world->addChild(ground); |
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world->addChild(collada); |
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collada->applyConfiguration(config2); |
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std::string name("world/robot/genou"); |
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std::cout << (parseName(name)) << std::endl;*/ |
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// world->addChild(ground); |
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// world->addChild(line); |
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world->addChild(box); |
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// world->addChild(robot); |
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WindowManagerPtr_t gm = WindowManager::create(); |
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gm->addNode(world); |
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// osgViewer::Viewer viewer; |
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// viewer.setSceneData( world->asGroup() ); |
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box->deleteLandmark(); |
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box->addLandmark(2.); |
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box->applyConfiguration(osgVector3(0., 0., 0.), |
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osgQuat(0.884, 0.306, -0.177, 0.306)); |
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world->addLandmark(1.); |
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return gm->run(); |
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} |