A base class for defining visualizers for Pinocchio in C++. This provides basic building blocks (a base constructor, data members, getters for the models). More...

#include <pinocchio/visualizers/base-visualizer.hpp>

Collaboration diagram for BaseVisualizer:

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Public Types
typedef SE3::Matrix4	Matrix4

Public Member Functions
	BaseVisualizer (const Model &model, const GeometryModel &visual_model, const GeometryModel collision_model, Data &data, GeometryData &visual_data, GeometryData collision_data)
	Class constructor for borrowing external data.

	BaseVisualizer (const Model &model, const GeometryModel &visual_model, const GeometryModel *collision_model=nullptr)
	Class constructor which will create internally-managed data objects.

virtual void	clean ()
	Delete all objects from the scene.

GeometryData &	collisionData ()

const GeometryData &	collisionData () const

const GeometryModel &	collisionModel () const

Data &	data ()

const Data &	data () const

virtual void	display (const boost::optional< ConstVectorRef > &q=boost::none)
	Display configuration `q` (if an actual value is given) or update the Pinocchio frames.

template<typename D >
void	display (const Eigen::MatrixBase< D > &q)

virtual void	enableCameraControl (bool)
	Enable/disable controlling the camera from keyboard and mouse.

virtual bool	forceRedraw ()
	Override this in child class when the scene has to be redrawn. Useful for play().

bool	hasCollisionModel () const

bool	hasExternalData () const
	Whether the internal data pointers are borrowed (external), or owned.

virtual void	initViewer ()
	Initialize the viewer.

virtual void	loadViewerModel ()=0
	Load the Pinocchio model.

const Model &	model () const

void	play (const ConstMatrixRef &qs, Scalar dt)

virtual void	play (const std::vector< ConstVectorRef > &qs, Scalar dt)
	Play an entire trajectory, waiting for time `dt` between each keyframe.

virtual void	rebuildData ()
	Re-build data objects. Required if the models were modified.

virtual void	setCameraPose (const Eigen::Ref< const Matrix4 > &)
	Set the active camera 6D pose.

void	setCameraPose (const SE3 &pose)
	Set the active camera 6D pose.

virtual void	setCameraPosition (const Eigen::Ref< const Vector3 > &)
	Set the active camera position.

virtual void	setCameraTarget (const Eigen::Ref< const Vector3 > &)
	Set the active camera target.

virtual void	setCameraZoom (Scalar)
	Set camera zoom level; what this means depends on the implementation (FOV zoom or moving forwards).

GeometryData &	visualData ()

const GeometryData &	visualData () const

const GeometryModel &	visualModel () const

Protected Member Functions
void	destroyData ()

virtual void	displayImpl ()=0

virtual void	displayPrecall ()
	This method is called at the beginning of display().

Protected Attributes
GeometryData *	m_collisionData

GeometryModel const *	m_collisionModel

Data *	m_data

std::reference_wrapper< Model const >	m_model

bool	m_ownedData

GeometryData *	m_visualData

GeometryModel const *	m_visualModel

Detailed Description

A base class for defining visualizers for Pinocchio in C++. This provides basic building blocks (a base constructor, data members, getters for the models).

The base API assumes that the visualizer is not the owner of the underlying Pinocchio multibody, visual or collision models. Their lifetimes should be managed by the application context itself.

Remarks: C++ port of the BaseVisualizer abstract class in Pinocchio's Python bindings.

Definition at line 34 of file base-visualizer.hpp.

Member Typedef Documentation

◆ Matrix4

typedef SE3::Matrix4 Matrix4

Definition at line 37 of file base-visualizer.hpp.

Constructor & Destructor Documentation

◆ BaseVisualizer() [1/2]

BaseVisualizer	(	const Model &	model,
		const GeometryModel &	visual_model,
		const GeometryModel *	collision_model,
		Data &	data,
		GeometryData &	visual_data,
		GeometryData *	collision_data
	)

Class constructor for borrowing external data.

Parameters

model	Reference to Pinocchio Model class.
visual_model	Reference to visual GeometryModel.
collision_model	Pointer to collision model. Pass nullptr if no collision model is to be provided.
data	Reference to Data object. The visualizer will store an internal reference as a pointer.
visual_data	Reference to visual (VISUAL) GeometryData object. The visualizer will store an internal reference as a pointer.
collision_data	Pointer to collision (COLLISION) GeometryData object. The visualizer will store this pointer internally as a reference.

Remarks: This constructor throws if a collision_model is provided with no collision_data. If the reverse happens, then the collision GeometryData is simply ignored.

◆ BaseVisualizer() [2/2]

BaseVisualizer	(	const Model &	model,
		const GeometryModel &	visual_model,
		const GeometryModel *	collision_model = `nullptr`
	)

Class constructor which will create internally-managed data objects.

Parameters

model	Reference to Pinocchio Model class.
visual_model	Reference to visual GeometryModel.
collision_model	Pointer to collision model. Pass nullptr if no collision model is to be provided.

Member Function Documentation

◆ clean()

virtual void clean ( )

inlinevirtual

Delete all objects from the scene.

Definition at line 143 of file base-visualizer.hpp.

◆ collisionData() [1/2]

GeometryData & collisionData ( )

inline

Definition at line 193 of file base-visualizer.hpp.

◆ collisionData() [2/2]

const GeometryData & collisionData ( ) const

inline

Definition at line 200 of file base-visualizer.hpp.

◆ collisionModel()

const GeometryModel & collisionModel ( ) const

inline

Definition at line 157 of file base-visualizer.hpp.

◆ data() [1/2]

Data & data ( )

inline

Definition at line 175 of file base-visualizer.hpp.

◆ data() [2/2]

const Data & data ( ) const

inline

Definition at line 179 of file base-visualizer.hpp.

◆ display()

template<typename D >

void display ( const Eigen::MatrixBase< D > & q )

inline

Definition at line 91 of file base-visualizer.hpp.

◆ displayPrecall()

virtual void displayPrecall ( )

inlineprotectedvirtual

This method is called at the beginning of display().

Definition at line 218 of file base-visualizer.hpp.

◆ enableCameraControl()

virtual void enableCameraControl ( bool )

inlinevirtual

Enable/disable controlling the camera from keyboard and mouse.

Definition at line 138 of file base-visualizer.hpp.

◆ forceRedraw()

virtual bool forceRedraw ( )

inlinevirtual

Override this in child class when the scene has to be redrawn. Useful for play().

Definition at line 105 of file base-visualizer.hpp.

◆ hasCollisionModel()

bool hasCollisionModel ( ) const

inline

Definition at line 164 of file base-visualizer.hpp.

◆ hasExternalData()

bool hasExternalData ( ) const

inline

Whether the internal data pointers are borrowed (external), or owned.

Definition at line 170 of file base-visualizer.hpp.

◆ initViewer()

virtual void initViewer ( )

inlinevirtual

Initialize the viewer.

Definition at line 75 of file base-visualizer.hpp.

◆ model()

const Model & model ( ) const

inline

Definition at line 147 of file base-visualizer.hpp.

◆ setCameraPose() [1/2]

virtual void setCameraPose ( const Eigen::Ref< const Matrix4 > & )

inlinevirtual

Set the active camera 6D pose.

Definition at line 121 of file base-visualizer.hpp.

◆ setCameraPose() [2/2]

void setCameraPose ( const SE3 & pose )

inline

Set the active camera 6D pose.

Definition at line 126 of file base-visualizer.hpp.

◆ setCameraPosition()

virtual void setCameraPosition ( const Eigen::Ref< const Vector3 > & )

inlinevirtual

Set the active camera position.

Definition at line 116 of file base-visualizer.hpp.

◆ setCameraTarget()

virtual void setCameraTarget ( const Eigen::Ref< const Vector3 > & )

inlinevirtual

Set the active camera target.

Definition at line 111 of file base-visualizer.hpp.

◆ setCameraZoom()

virtual void setCameraZoom ( Scalar )

inlinevirtual

Set camera zoom level; what this means depends on the implementation (FOV zoom or moving forwards).

Definition at line 133 of file base-visualizer.hpp.

◆ visualData() [1/2]

GeometryData & visualData ( )

inline

Definition at line 184 of file base-visualizer.hpp.

◆ visualData() [2/2]

const GeometryData & visualData ( ) const

inline

Definition at line 188 of file base-visualizer.hpp.

◆ visualModel()

const GeometryModel & visualModel ( ) const

inline

Definition at line 152 of file base-visualizer.hpp.

Member Data Documentation

◆ m_collisionData

GeometryData* m_collisionData

protected

Definition at line 214 of file base-visualizer.hpp.

◆ m_collisionModel

GeometryModel const* m_collisionModel

protected

Definition at line 210 of file base-visualizer.hpp.

◆ m_data

Data* m_data

protected

Definition at line 212 of file base-visualizer.hpp.

◆ m_model

std::reference_wrapper<Model const> m_model

protected

Definition at line 208 of file base-visualizer.hpp.

◆ m_ownedData

bool m_ownedData

protected

Definition at line 215 of file base-visualizer.hpp.

◆ m_visualData

GeometryData* m_visualData

protected

Definition at line 213 of file base-visualizer.hpp.

◆ m_visualModel

GeometryModel const* m_visualModel

protected

Definition at line 209 of file base-visualizer.hpp.

The documentation for this class was generated from the following file:

include/pinocchio/visualizers/base-visualizer.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Matrix4

Constructor & Destructor Documentation

◆ BaseVisualizer() [1/2]

◆ BaseVisualizer() [2/2]

Member Function Documentation

◆ clean()

◆ collisionData() [1/2]

◆ collisionData() [2/2]

◆ collisionModel()

◆ data() [1/2]

◆ data() [2/2]

◆ display()

◆ displayPrecall()

◆ enableCameraControl()

◆ forceRedraw()

◆ hasCollisionModel()

◆ hasExternalData()

◆ initViewer()

◆ model()

◆ setCameraPose() [1/2]

◆ setCameraPose() [2/2]

◆ setCameraPosition()

◆ setCameraTarget()

◆ setCameraZoom()

◆ visualData() [1/2]

◆ visualData() [2/2]

◆ visualModel()

Member Data Documentation

◆ m_collisionData

◆ m_collisionModel

◆ m_data

◆ m_model

◆ m_ownedData

◆ m_visualData

◆ m_visualModel