Simultaneous control of hppcorbaserver and gepetto-viewer-server. More...

Inheritance diagram for gepetto.viewer.Viewer:

Collaboration diagram for gepetto.viewer.Viewer:

Public Member Functions
def	__init__ (self, problemSolver, viewerClient=None, collisionURDF=False, displayName=None, displayArrows=False, displayCoM=False)
	Constructor. More...

def	createWindowAndScene (self, viewerClient, name)

def	addCallback (self, cb)

def	buildRobotBodies (self)

def	addLandmark (self, linkname, size)
	Add a landmark. More...

def	displayPathMap (self, nameRoadmap, pathID, radiusSphere=0.03, sizeAxis=0.09, colorNode=[1, colorEdge=[1, joint=None)
	Display the part of the roadmap used by the solution path. More...

def	displayRoadmap (self, nameRoadmap, radiusSphere=0.01, sizeAxis=0.03, colorNode=[1.0, colorEdge=[0.85, joint=None)
	Display the roadmap created by problem.solve() More...

def	solveAndDisplay (self, nameRoadmap, numberIt, radiusSphere=0.01, sizeAxis=0.03, colorNode=[1.0, colorEdge=[0.85, joint=None)
	build the roadmap and diplay it during construction (delete existing roadmap if problem already solved ) More...

def	loadObstacleModel (self, package, filename, prefix, meshPackageName=None, guiOnly=False)
	Load obstacles from a urdf file. More...

def	moveObstacle (self, name, position, guiOnly=False)
	Move Obstacle. More...

def	computeObjectPosition (self)
	Synchronize object positions in gepetto-viewer-server. More...

def	publishRobots (self)

def	__call__ (self, args)

def	startCapture (self, filename, extension)
	Start a screen capture. More...

def	stopCapture (self)
	Stop a screen capture. More...

def	captureFrame (self, filename)
	Save current scene to image. More...

def	toggleVisual (self, visual)

def	drawRobotAABB (self)

Public Attributes
	problemSolver

	robot

	collisionURDF

	color

	client

	callbacks

	displayName

	displayArrows

	colorVelocity

	colorAcceleration

	arrowRadius

	arrowMinSize

	arrowMaxSize

	amax

	vmax

	displayCoM

	windowName

	windowId

	sceneName

	robotBodies

	robotConfig

Static Public Attributes
string	sceneName = '0_scene_hpp_'
	Default scene name Useful when debugging for creating an instance with a client to an existing server. More...

Detailed Description

Simultaneous control of hppcorbaserver and gepetto-viewer-server.

This class implements clients to both

hppcorbaserver through hpp.corbaserver.problem_solver.ProblemSolver python class,
gepetto-viewer-server through gepetto.corbaserver.Client python class.

Operation that need to be synchronized between hppcorbaserver internal model and graphical user interface should be implemented by this class.

Constructor & Destructor Documentation

def gepetto.viewer.Viewer.__init__	(	self,
		problemSolver,
		viewerClient = `None`,
		collisionURDF = `False`,
		displayName = `None`,
		displayArrows = `False`,
		displayCoM = `False`
	)

Constructor.

Parameters

problemSolver	object of type ProblemSolver
viewerClient	if not provided, a new client to gepetto-viewer-server is created.
displayArrow	if True, the publish method will display 2 arrows representing the velocity (green) and acceleration (red) of the root. This parameter can only be used if the robot have at least 6 extraDOF storing the velocity and acceleration of the root.
displayCoM	if True, the publish method will also display a small red sphere representing the position of the CoM for the published configuration.

The robot loaded in hppcorbaserver is loaded into gepetto-viewer-server.

Member Function Documentation

def gepetto.viewer.Viewer.__call__	(	self,
		args
	)

def gepetto.viewer.Viewer.addCallback	(	self,
		cb
	)

Parameters

cb	Callable object, whose argument is a robot configuration.

def gepetto.viewer.Viewer.addLandmark	(	self,
		linkname,
		size
	)

Add a landmark.

See also: gepetto::corbaserver::GraphicalInterface::addLandmark

def gepetto.viewer.Viewer.buildRobotBodies ( self )

Referenced by gepetto.manipulation.viewer.Viewer.buildCompositeRobot(), gepetto.manipulation.viewer.Viewer.loadHumanoidModel(), gepetto.manipulation.viewer.Viewer.loadObjectModel(), and gepetto.manipulation.viewer.Viewer.loadRobotModel().

def gepetto.viewer.Viewer.captureFrame	(	self,
		filename
	)

Save current scene to image.

See also: gepetto::corbaserver::GraphicalInterface::captureFrame

References gepetto.viewer.Viewer.windowId.

def gepetto.viewer.Viewer.computeObjectPosition ( self )

Synchronize object positions in gepetto-viewer-server.

Get position of objects from hppcorbaserver and forward to gepetto-viewer-server.

Referenced by gepetto.manipulation.viewer.Viewer.loadEnvironmentModel(), gepetto.manipulation.viewer.Viewer.loadObjectModel(), gepetto.viewer.Viewer.loadObstacleModel(), gepetto.viewer_factory.ViewerFactory.moveObstacle(), and gepetto.viewer.Viewer.moveObstacle().

def gepetto.viewer.Viewer.createWindowAndScene	(	self,
		viewerClient,
		name
	)

def gepetto.viewer.Viewer.displayPathMap	(	self,
		nameRoadmap,
		pathID,
		radiusSphere = `0.03`,
		sizeAxis = `0.09`,
		colorNode = `[1`,
		colorEdge = `[1`,
		joint = `None`
	)

Display the part of the roadmap used by the solution path.

Parameters

nameRoadmap	: the name of the osgNode added to the scene
pathID	: the id of the path we want to display
radiusSphere	: the radius of the node
sizeAxis	: size of axes (proportionnaly to the radius of the sphere) 0 = only sphere
colorNode	: the color of the sphere for the nodes (default value : red)
colorEdge	: the color of the edges (default value : light red)
joint	: the link we want to display the configuration (by defaut, root link of the robot) BE CAREFULL : in the .py file wich init the robot, you must define a valid tf_root (this is the displayed joint by default) notes : the edges are always straight lines and doesn't represent the real path beetwen the configurations of the nodes

References gepetto.viewer.Viewer.problemSolver, hpp::corbaserver::benchmark::Benchmark.robot, hpp::corbaserver::problem_solver::ProblemSolver.robot, gepetto.viewer.Viewer.robot, and gepetto.viewer.Viewer.sceneName.

def gepetto.viewer.Viewer.displayRoadmap	(	self,
		nameRoadmap,
		radiusSphere = `0.01`,
		sizeAxis = `0.03`,
		colorNode = `[1.0`,
		colorEdge = `[0.85`,
		joint = `None`
	)

Display the roadmap created by problem.solve()

Parameters

radiusSphere	: the radius of the node
sizeAxis	: size of axes (proportionnaly to the radius of the sphere) 0 = only sphere
colorNode	: the color of the sphere for the nodes (default value : white)
colorEdge	: the color of the edges (default value : yellow)
joint	: the link we want to display the configuration (by defaut, root link of the robot) BE CAREFULL : in the .py file wich init the robot, you must define a valid tf_root (this is the displayed joint by default) notes : the edges are always straight lines and doesn't represent the real path beetwen the configurations of the nodes

References gepetto.viewer.Viewer.problemSolver, hpp::corbaserver::benchmark::Benchmark.robot, hpp::corbaserver::problem_solver::ProblemSolver.robot, gepetto.viewer.Viewer.robot, and gepetto.viewer.Viewer.sceneName.

Referenced by gepetto.viewer.Viewer.solveAndDisplay().

def gepetto.viewer.Viewer.drawRobotAABB ( self )

References gepetto.viewer.Viewer.sceneName.

def gepetto.viewer.Viewer.loadObstacleModel	(	self,
		package,
		filename,
		prefix,
		meshPackageName = `None`,
		guiOnly = `False`
	)

Load obstacles from a urdf file.

Parameters

package	ros package containing the urdf file,
filename	name of the urdf file without extension,
prefix	prefix added to object names in case the same file is loaded several times,
meshPackageName	ros package containing the geometry files (collada, stl,...) if different from package
guiOnly	whether to control only gepetto-viewer-server

References gepetto.viewer.Viewer.collisionURDF, gepetto.viewer.Viewer.computeObjectPosition(), and gepetto.viewer.Viewer.sceneName.

Referenced by gepetto.viewer.Viewer.solveAndDisplay().

def gepetto.viewer.Viewer.moveObstacle	(	self,
		name,
		position,
		guiOnly = `False`
	)

Move Obstacle.

Parameters

name	Name of the object
position	Position of the object as a 7-d vector (translation-quaternion)
guiOnly	whether to control only gepetto-viewer-server

References gepetto.viewer.Viewer.computeObjectPosition().

def gepetto.viewer.Viewer.publishRobots ( self )

References gepetto.viewer.Viewer.amax, gepetto.viewer.Viewer.arrowMaxSize, gepetto.viewer.Viewer.arrowMinSize, gepetto.viewer.Viewer.arrowRadius, gepetto.viewer.Viewer.displayArrows, gepetto.viewer.Viewer.displayCoM, gepetto.viewer.Viewer.robotBodies, gepetto.viewer.Viewer.robotConfig, gepetto.viewer.Viewer.sceneName, and gepetto.viewer.Viewer.vmax.

def gepetto.viewer.Viewer.solveAndDisplay	(	self,
		nameRoadmap,
		numberIt,
		radiusSphere = `0.01`,
		sizeAxis = `0.03`,
		colorNode = `[1.0`,
		colorEdge = `[0.85`,
		joint = `None`
	)

build the roadmap and diplay it during construction (delete existing roadmap if problem already solved )

Parameters

nameRoadmap	: name of the new roadmap
numberIt	: number of iteration beetwen to refresh of the roadmap (be careful, if numberIt is too low it can crash gepetto-viewer-server)
radiusSphere	: the radius of the node
sizeAxis	: size of axes (proportionnaly to the radius of the sphere) 0 = only sphere
colorNode	: the color of the sphere for the nodes (default value : white)
colorEdge	: the color of the edges (default value : yellow)
joint	: the link we want to display the configuration (by defaut, root link of the robot)