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// Copyright (c) 2014, LAAS-CNRS |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// This file is part of gepetto-viewer. |
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// gepetto-viewer is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// |
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// gepetto-viewer is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// gepetto-viewer. If not, see <http://www.gnu.org/licenses/>. |
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#ifndef GEPETTO_VIEWER_WINDOWMANAGERS_HH |
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#define GEPETTO_VIEWER_WINDOWMANAGERS_HH |
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#include <gepetto/viewer/config-osg.h> |
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#include <gepetto/viewer/fwd.h> |
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#include <gepetto/viewer/transform-writer.h> |
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#include <OpenThreads/Mutex> |
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#include <OpenThreads/ScopedLock> |
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namespace gepetto { |
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namespace viewer { |
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typedef OpenThreads::Mutex Mutex; |
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typedef OpenThreads::ScopedLock<Mutex> ScopedLock; |
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DEF_CLASS_SMART_PTR(WindowsManager) |
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struct NodeConfiguration : Configuration { |
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NodePtr_t node; |
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}; |
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struct BlenderFrameCapture { |
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typedef std::vector<NodePtr_t> Nodes_t; |
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osg::ref_ptr<TransformWriterVisitor> writer_visitor_; |
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Nodes_t nodes_; |
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BlenderFrameCapture(); |
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void captureFrame(); |
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}; |
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/// Manage a set of windows that may share 3D objects. |
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class WindowsManager { |
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public: |
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// Typedef for position and color values. |
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typedef osg::Vec3f::value_type value_type; |
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typedef osgVector4 Color_t; |
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typedef ::osg::Vec3ArrayRefPtr Vec3ArrayPtr_t; |
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typedef ::osg::Vec4ArrayRefPtr Vec4ArrayPtr_t; |
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typedef std::string WindowID; |
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private: |
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typedef std::map<WindowID, WindowManagerPtr_t> WindowManagerMap_t; |
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WindowManagerMap_t windowManagers_; |
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std::map<std::string, NodePtr_t> nodes_; |
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std::map<std::string, GroupNodePtr_t> groupNodes_; |
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std::map<std::string, RoadmapViewerPtr_t> roadmapNodes_; |
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Mutex osgFrameMtx_; |
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BlenderFrameCapture blenderCapture_; |
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static osgVector4 getColor(const std::string& colorName); |
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static std::string parentName(const std::string& name); |
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static VisibilityMode getVisibility(const std::string& visibilityName); |
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static WireFrameMode getWire(const std::string& wireName); |
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static LightingMode getLight(const std::string& lightName); |
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NodePtr_t find(const std::string name, |
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GroupNodePtr_t group = GroupNodePtr_t()); |
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void initParent(NodePtr_t node, GroupNodePtr_t parent); |
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bool loadUDRF(const std::string& urdfName, const std::string& urdfPath, |
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bool visual, bool linkFrame); |
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protected: |
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/** |
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\brief Default constructor |
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*/ |
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WindowsManager(); |
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WindowID addWindow(std::string winName, WindowManagerPtr_t newWindow); |
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typedef std::vector<NodeConfiguration> NodeConfigurations_t; |
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Mutex configListMtx_; |
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NodeConfigurations_t newNodeConfigurations_; |
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bool autoCaptureTransform_; |
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void refreshConfigs(const NodeConfigurations_t& configs); |
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template <typename Iterator, typename NodeContainer_t> |
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std::size_t getNodes(const Iterator& begin, const Iterator& end, |
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NodeContainer_t& nodes); |
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/// Warning, the mutex should be locked before and unlocked after this |
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/// opertations. |
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void addNode(const std::string& nodeName, NodePtr_t node, |
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bool guessParent = false); |
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virtual void addNode(const std::string& nodeName, NodePtr_t node, |
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GroupNodePtr_t parent); |
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void addGroup(const std::string& groupName, GroupNodePtr_t group, |
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bool guessParent = false); |
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virtual void addGroup(const std::string& groupName, GroupNodePtr_t group, |
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GroupNodePtr_t parent); |
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public: |
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static WindowsManagerPtr_t create(); |
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virtual ~WindowsManager() {}; |
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virtual std::vector<std::string> getNodeList(); |
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virtual std::vector<std::string> getGroupNodeList(const std::string& group); |
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virtual std::vector<std::string> getSceneList(); |
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virtual std::vector<std::string> getWindowList(); |
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/// Return the mutex to be locked before modifying the scene. |
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Mutex& osgFrameMutex() { return osgFrameMtx_; } |
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virtual WindowID getWindowID(const std::string& windowName); |
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virtual void createScene(const std::string& sceneName); |
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virtual void createSceneWithFloor(const std::string& sceneName); |
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virtual bool addSceneToWindow(const std::string& sceneName, |
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const WindowID windowId); |
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virtual bool attachCameraToNode(const std::string& nodeName, |
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const WindowID windowId); |
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virtual bool detachCamera(const WindowID windowId); |
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virtual bool nodeExists(const std::string& name); |
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virtual bool addFloor(const std::string& floorName); |
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/// Add a box in the scene |
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/// \param boxName name of the box, |
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/// \param boxSize1, boxSize2, boxSize3 lengths of the box along |
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/// axes x, y, z, |
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/// \param color the color of the box. |
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virtual bool addBox(const std::string& boxName, const float& boxSize1, |
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const float& boxSize2, const float& boxSize3, |
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const Color_t& color); |
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virtual bool addCapsule(const std::string& capsuleName, float radius, |
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float height, const Color_t& color); |
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virtual bool addArrow(const std::string& arrowName, const float radius, |
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const float length, const Color_t& color); |
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virtual bool addRod(const std::string& rodName, const Color_t& color, |
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const float radius, const float length, short maxCapsule); |
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virtual bool resizeCapsule(const std::string& capsuleName, float newHeight); |
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virtual bool resizeArrow(const std::string& arrowName, float newRadius, |
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float newLength); |
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virtual bool addMesh(const std::string& meshName, |
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const std::string& meshPath); |
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/// See LeafNodeCollada::removeLightSources() |
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virtual void removeLightSources(const std::string& meshName); |
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virtual bool addCone(const std::string& coneName, float radius, float height, |
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const Color_t& color); |
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virtual bool addCylinder(const std::string& cylinderName, float radius, |
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float height, const Color_t& color); |
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virtual bool addSphere(const std::string& sphereName, float radius, |
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const Color_t& color); |
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virtual bool addLight(const std::string& lightName, const WindowID wid, |
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float radius, const Color_t& color); |
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virtual bool addLine(const std::string& lineName, const osgVector3& pos1, |
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const osgVector3& pos2, const Color_t& color); |
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virtual bool setLineStartPoint(const std::string& lineName, |
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const osgVector3& pos1); |
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virtual bool setLineEndPoint(const std::string& lineName, |
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const osgVector3& pos2); |
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virtual bool setLineExtremalPoints(const std::string& lineName, |
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const osgVector3& pos1, |
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const osgVector3& pos2); |
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virtual bool addCurve(const std::string& curveName, const Vec3ArrayPtr_t& pos, |
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const Color_t& color); |
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virtual bool setCurvePoints(const std::string& curveName, |
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const Vec3ArrayPtr_t& pos); |
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virtual bool setCurveColors(const std::string& curveName, |
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const Vec4ArrayPtr_t& colors); |
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/// \param mode See LeafNodeLine::setMode for possible values |
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virtual bool setCurveMode(const std::string& curveName, const GLenum mode); |
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virtual bool setCurvePointsSubset(const std::string& curveName, |
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const int first, const std::size_t count); |
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virtual bool setCurveLineWidth(const std::string& curveName, |
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const float& width); |
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virtual bool addSquareFace(const std::string& faceName, |
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const osgVector3& pos1, const osgVector3& pos2, |
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const osgVector3& pos3, const osgVector3& pos4, |
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const Color_t& color); |
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virtual bool setTexture(const std::string& nodeName, |
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const std::string& filename); |
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virtual bool addTriangleFace(const std::string& faceName, |
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const osgVector3& pos1, const osgVector3& pos2, |
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const osgVector3& pos3, const Color_t& color); |
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virtual bool addXYZaxis(const std::string& nodeName, const Color_t& color, |
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float radius, float sizeAxis); |
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virtual bool createRoadmap(const std::string& name, const Color_t& colorNode, |
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float radius, float sizeAxis, |
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const Color_t& colorEdge); |
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virtual bool addEdgeToRoadmap(const std::string& nameRoadmap, |
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const osgVector3& posFrom, |
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const osgVector3& posTo); |
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virtual bool addNodeToRoadmap(const std::string& nameRoadmap, |
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const Configuration& configuration); |
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virtual bool addURDF(const std::string& urdfName, |
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const std::string& urdfPath); |
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/// \deprecated Argument urdfPackagePathCorba is ignored. |
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virtual bool addURDF(const std::string& urdfName, const std::string& urdfPath, |
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const std::string& urdfPackagePath); |
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virtual bool addUrdfCollision(const std::string& urdfName, |
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const std::string& urdfPath); |
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/// \deprecated Argument urdfPackagePathCorba is ignored. |
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virtual bool addUrdfCollision(const std::string& urdfName, |
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const std::string& urdfPath, |
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const std::string& urdfPackagePath); |
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virtual void addUrdfObjects(const std::string& urdfName, |
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const std::string& urdfPath, bool visual); |
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/// \deprecated Argument urdfPackagePathCorba is ignored. |
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virtual void addUrdfObjects(const std::string& urdfName, |
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const std::string& urdfPath, |
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const std::string& urdfPackagePath, bool visual); |
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virtual bool createGroup(const std::string& groupName); |
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virtual bool addToGroup(const std::string& nodeName, |
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const std::string& groupName); |
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virtual bool removeFromGroup(const std::string& nodeName, |
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const std::string& groupName); |
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virtual bool deleteNode(const std::string& nodeName, bool all); |
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virtual bool removeObjectFromCache(const std::string& nodeName); |
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virtual bool applyConfiguration(const std::string& nodeName, |
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const Configuration& configuration); |
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virtual bool applyConfigurations( |
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const std::vector<std::string>& nodeName, |
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const std::vector<Configuration>& configuration); |
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virtual bool addLandmark(const std::string& nodeName, float size); |
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virtual bool deleteLandmark(const std::string& nodeName); |
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virtual Configuration getStaticTransform(const std::string& nodeName) const; |
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virtual bool setStaticTransform(const std::string& nodeName, |
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const Configuration& transform); |
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virtual bool setVisibility(const std::string& nodeName, |
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const std::string& visibilityMode); |
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virtual bool setScale(const std::string& nodeName, const osgVector3& scale); |
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virtual bool setScale(const std::string& nodeName, const float& scale); |
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virtual bool setScale(const std::string& nodeName, |
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const int& scalePercentage); |
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virtual bool setColor(const std::string& nodeName, const Color_t& color); |
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virtual bool setWireFrameMode(const std::string& nodeName, |
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const std::string& wireFrameMode); |
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virtual bool setLightingMode(const std::string& nodeName, |
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const std::string& lightingMode); |
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virtual bool setHighlight(const std::string& nodeName, int state); |
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virtual bool setAlpha(const std::string& nodeName, const float& alpha); |
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virtual bool setAlpha(const std::string& nodeName, |
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const int& alphaPercentage); |
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virtual bool setCaptureTransform(const std::string& filename, |
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const std::vector<std::string>& nodename); |
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virtual void captureTransformOnRefresh(bool autoCapture); |
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virtual void captureTransform(); |
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virtual bool writeBlenderScript(const std::string& filename, |
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const std::vector<std::string>& nodename); |
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virtual bool writeNodeFile(const std::string& nodename, |
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const std::string& filename); |
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virtual bool writeWindowFile(const WindowID windowId, |
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const std::string& filename); |
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virtual bool setBackgroundColor1(const WindowID windowId, |
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const Color_t& color); |
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virtual bool setBackgroundColor2(const WindowID windowId, |
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const Color_t& color); |
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virtual Configuration getCameraTransform(const WindowID windowId); |
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virtual bool setCameraTransform(const WindowID windowId, |
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const Configuration& configuration); |
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virtual bool setCameraToBestFit(const WindowID windowId); |
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virtual std::vector<std::string> getPropertyNames( |
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const std::string& nodeName) const; |
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virtual std::vector<std::string> getPropertyTypes( |
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const std::string& nodeName) const; |
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template <typename Property_t> |
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Property_t getProperty(const std::string& nodeName, |
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const std::string& propName) const; |
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template <typename Property_t> |
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void setProperty(const std::string& nodeName, const std::string& propName, |
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const Property_t& value); |
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virtual std::string getStringProperty(const std::string& nodeName, |
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const std::string& propName) const; |
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virtual void setStringProperty(const std::string& nodeName, |
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const std::string& propName, |
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const std::string& value); |
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virtual osgVector2 getVector2Property(const std::string& nodeName, |
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const std::string& propName) const; |
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virtual void setVector2Property(const std::string& nodeName, |
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const std::string& propName, |
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const osgVector2& value); |
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virtual osgVector3 getVector3Property(const std::string& nodeName, |
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const std::string& propName) const; |
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virtual void setVector3Property(const std::string& nodeName, |
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const std::string& propName, |
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const osgVector3& value); |
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virtual osgVector4 getColorProperty(const std::string& nodeName, |
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const std::string& propName) const; |
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virtual void setColorProperty(const std::string& nodeName, |
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const std::string& propName, |
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const osgVector4& value); |
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virtual float getFloatProperty(const std::string& nodeName, |
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const std::string& propName) const; |
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virtual void setFloatProperty(const std::string& nodeName, |
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const std::string& propName, |
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const float& value); |
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virtual bool getBoolProperty(const std::string& nodeName, |
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const std::string& propName) const; |
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virtual void setBoolProperty(const std::string& nodeName, |
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const std::string& propName, const bool& value); |
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virtual int getIntProperty(const std::string& nodeName, |
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const std::string& propName) const; |
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virtual void setIntProperty(const std::string& nodeName, |
| 340 |
|
|
const std::string& propName, const int& value); |
| 341 |
|
|
virtual void callVoidProperty(const std::string& nodeName, |
| 342 |
|
|
const std::string& propName); |
| 343 |
|
|
|
| 344 |
|
|
WindowManagerPtr_t getWindowManager(const WindowID wid, |
| 345 |
|
|
bool throwIfDoesntExist = false) const; |
| 346 |
|
|
GroupNodePtr_t getGroup(const std::string groupName, |
| 347 |
|
|
bool throwIfDoesntExist = false) const; |
| 348 |
|
|
NodePtr_t getNode(const std::string& nodeName, |
| 349 |
|
|
bool throwIfDoesntExist = false) const; |
| 350 |
|
|
Configuration getNodeGlobalTransform(const std::string nodeName) const; |
| 351 |
|
|
}; |
| 352 |
|
|
} /* namespace viewer */ |
| 353 |
|
|
} /* namespace gepetto */ |
| 354 |
|
|
|
| 355 |
|
|
#endif /* GEPETTO_VIEWER_WINDOWMANAGERS_HH */ |
| 356 |
|
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