import"/home/florent/devel/release/src/gepetto-viewer-corba/idl/gepetto/viewer/graphical-interface.idl";

Public Member Functions
Windows and scenes

WindowID	createWindow (in string name) raises (Error)

WindowID	getWindowID (in string name) raises (Error)

boolean	setBackgroundColor1 (in WindowID wid, in Color RGBAcolor)

boolean	setBackgroundColor2 (in WindowID wid, in Color RGBAcolor)

void	createScene (in string sceneName) raises (Error)

void	createSceneWithFloor (in string sceneName) raises (Error)

boolean	addSceneToWindow (in string sceneName, in WindowID wid) raises (Error)

Node creation

boolean	addFloor (in string floorName) raises (Error)

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

boolean	addCapsule (in string name, in float radius, in float height, in Color RGBAcolor) raises (Error)

boolean	addArrow (in string name, in float radius, in float length, in Color RGBAcolor) raises (Error)

boolean	addRod (in string rodName, in Color RGBAcolor, in float radius, in float totalLength, in short maxCapsule) raises (Error)

boolean	resizeCapsule (in string capsuleName, in float height) raises (Error)

boolean	resizeArrow (in string capsuleName, in float radius, in float length) raises (Error)

boolean	addMesh (in string meshName, in string meshPath) raises (Error)

void	removeLightSources (in string meshName) raises (Error)

boolean	addCone (in string name, in float radius, in float height, in Color RGBAcolor) raises (Error)
	create a Cone More...

boolean	addCylinder (in string cylinderName, in float radius, in float height, in Color RGBAcolor) raises (Error)
	create a Cylinder More...

boolean	addSphere (in string sphereName, in float radius, in Color RGBAcolor) raises (Error)
	create a Sphere More...

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

boolean	addLine (in string lineName, in Position pos1, in Position pos2, in Color RGBAcolor) raises (Error)

boolean	setLineStartPoint (in string lineName, in Position pos1) raises (Error)

boolean	setLineEndPoint (in string lineName, in Position pos2) raises (Error)

boolean	setLineExtremalPoints (in string lineName, in Position pos1, in Position pos2) raises (Error)

boolean	addCurve (in string name, in PositionSeq pos, in Color RGBAcolor) raises (Error)

boolean	setCurvePoints (in string name, in PositionSeq pos) raises (Error)

boolean	setCurveColors (in string name, in ColorSeq pos) raises (Error)

boolean	setCurveMode (in string name, 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)

boolean	setTexture (in string nodeName, in string filename) raises (Error)

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

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) raises (Error)

boolean	addUrdfCollision (in string robotName, in string urdfFilePath) raises (Error)

void	addUrdfObjects (in string nodeName, in string urdfFilePath, in boolean visual) raises (Error)

boolean	createGroup (in string groupName) raises (Error)

Node tree manipulation

boolean	nodeExists (in string nodeName) raises (Error)

void	deleteNode (in string nodeName, in boolean all) raises (Error)

Names_t	getNodeList () raises (Error)
	Returns the name of all the nodes. More...

Names_t	getGroupNodeList (in string group) raises (Error)

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)

boolean	removeFromGroup (in string nodeName, in string groupName) raises (Error)

Node configuration

boolean	applyConfiguration (in string nodeName, in Transform configuration) raises (Error)

boolean	applyConfigurations (in Names_t nodeName, in TransformSeq configuration) raises (Error)

void	refresh () raises (Error)
	Change configurations according to the last applyConfigurations.d. More...

void	setRefreshIsSynchronous (in boolean synchonous) raises (Error)

Transform	getNodeGlobalTransform (in string nodeName) raises (Error)

Node properties

boolean	addLandmark (in string nodeName, in float size) raises (Error)

boolean	deleteLandmark (in string nodeName) raises (Error)

Transform	getStaticTransform (in string nodeName) raises (Error)

boolean	setStaticTransform (in string nodeName, in Transform configuration) raises (Error)

boolean	setVisibility (in string nodeName, in string visibilityMode) raises (Error)

boolean	setScale (in string nodeName, in Position scale) raises (Error)

boolean	setColor (in string nodeName, in Color scale) raises (Error)

boolean	setWireFrameMode (in string nodeName, in string wireFrameMode) raises (Error)

boolean	setLightingMode (in string nodeName, in string lightingMode) raises (Error)

boolean	setHighlight (in string nodeName, in long state) raises (Error)

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)

void	callVoidProperty (in string nodeName, in string propName) raises (Error)

Export of scenes to images or to blender
See gepetto::gui::blenderexport::Plugin
void	captureFrame (in WindowID wid, in string imageFilename) raises (Error)

boolean	startCapture (in WindowID wid, in string filename, in string extension) raises (Error)

boolean	stopCapture (in WindowID wid) raises (Error)
	Stop the running capture of a window. More...

boolean	setCaptureTransform (in string filename, in Names_t nodeNames) raises (Error)

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)

boolean	writeNodeFile (in string nodeName, in string filename) raises (Error)
	Write a node and its children to filename. More...

boolean	writeWindowFile (in WindowID wid, in string filename) raises (Error)
	Write the nodes contained in the window to filename. More...

Camera manipulation

boolean	attachCameraToNode (in string nodeName, in WindowID wid) raises (Error)

boolean	detachCamera (in WindowID wid) raises (Error)

Transform	getCameraTransform (in WindowID wid) raises (Error)

boolean	setCameraTransform (in WindowID wid, in Transform configuration) raises (Error)

boolean	registerNodeCallback (in NodeCallback cb) raises (Error)

Detailed Description

IDL of the graphical interface. It contains the following groups:

Member Function Documentation

◆ addArrow()

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

create a box called CapsuleName.

Parameters

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

◆ addBox()

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

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

◆ addCapsule()

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

create a box called CapsuleName.

Parameters

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

◆ addCone()

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

create a Cone

◆ addCurve()

boolean gepetto::corbaserver::GraphicalInterface::addCurve	(	in string	name,
		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

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

◆ addCylinder()

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

create a Cylinder

◆ addEdgeToRoadmap()

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

◆ addFloor()

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

create a floor called floorName.

Parameters

floorName : name of the floor.

◆ addLandmark()

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

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

◆ addLight()

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

create a light

Parameters

lightName	: name of the light.
wid	: ID of the window.
radius	: radius of the bulb showing the light.
RGBAcolor	: color of the light.

◆ addLine()

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

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

◆ addMesh()

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

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

◆ addNodeToRoadmap()

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

◆ addRod()

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

◆ addSceneToWindow()

boolean gepetto::corbaserver::GraphicalInterface::addSceneToWindow	(	in string	sceneName,
		in WindowID	wid
	)
raises	(	Error
	)

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

Parameters

sceneName	: name of the groupNode.
wid	: ID of rhe window.

◆ addSphere()

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

create a Sphere

◆ addSquareFace()

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

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

◆ addToGroup()

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

set a node as child to a group node.

Parameters

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

◆ addTriangleFace()

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

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

◆ addURDF()

boolean gepetto::corbaserver::GraphicalInterface::addURDF	(	in string	robotName,
		in string	urdfFilePath
	)
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", 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.

◆ addUrdfCollision()

boolean gepetto::corbaserver::GraphicalInterface::addUrdfCollision	(	in string	robotName,
		in string	urdfFilePath
	)
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", 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.

◆ addUrdfObjects()

void gepetto::corbaserver::GraphicalInterface::addUrdfObjects	(	in string	nodeName,
		in string	urdfFilePath,
		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",

Note: 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.

◆ addXYZaxis()

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

◆ applyConfiguration()

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

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

◆ applyConfigurations()

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.

◆ attachCameraToNode()

boolean gepetto::corbaserver::GraphicalInterface::attachCameraToNode	(	in string	nodeName,
		in WindowID	wid
	)
raises	(	Error
	)

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

Parameters

nodeName	: name of the node
wid	: ID of the window

◆ callVoidProperty()

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

◆ captureFrame()

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

◆ captureTransform()

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

Write current configuration to the motion file.

◆ captureTransformOnRefresh()

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

Change status of automatic capture on refresh.

◆ createGroup()

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

create a groupNode called groupName

Parameters

groupName : name of the group.

◆ createRoadmap()

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

◆ createScene()

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

Create a group node.

Parameters

sceneName : name of the group.

◆ createSceneWithFloor()

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

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

Parameters

sceneName : name of the group

◆ createWindow()

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

Create a new window if it does not already exists.

Parameters

name	: name of the new window. return the value provided as input argument.

◆ deleteLandmark()

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

delete Landmark of a node.

Parameters

nodeName : name of the node

◆ deleteNode()

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.

◆ detachCamera()

boolean gepetto::corbaserver::GraphicalInterface::detachCamera	(	in WindowID	wid	)
raises	(	Error
	)

Detach the camera of WindowManager pointed by wid from any node

Parameters

wid	: ID of the window

◆ getBoolProperty()

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

◆ getCameraTransform()

Transform gepetto::corbaserver::GraphicalInterface::getCameraTransform	(	in WindowID	wid	)
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

wid	: ID of the window

◆ getColorProperty()

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

◆ getFloatProperty()

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

◆ getGroupNodeList()

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

Returns the name of the Group nodes contained in a group

Parameters

group : name of the group.

◆ getIntProperty()

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

◆ getNodeGlobalTransform()

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

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

Parameters

nodeName : name of the node.

Returns: a length 7 array

◆ getNodeList()

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

Returns the name of all the nodes.

◆ getPropertyNames()

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

◆ getPropertyTypes()

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

◆ getSceneList()

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

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

◆ getStaticTransform()

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

get the static transform of the node

Parameters

nodeName : name of the node

◆ getStringProperty()

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

◆ getVector2Property()

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

◆ getVector3Property()

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

◆ getWindowID()

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

Deprecated:: Line windowId = gui.getWindowID(name) can be replaced by windowId = name.

◆ getWindowList()

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

Print names of windows on the SceneViewer-corbaserver terminal.

◆ nodeExists()

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

Check if nodeName is an existing node.

Parameters

nodeName name of the node

◆ refresh()

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

Change configurations according to the last applyConfigurations.d.

◆ registerNodeCallback()

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

◆ removeFromGroup()

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

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

◆ removeLightSources()

void gepetto::corbaserver::GraphicalInterface::removeLightSources	(	in string	meshName	)
raises	(	Error
	)

Remove light sources from mesh

Parameters

meshName : name of the new meshNode.

◆ resizeArrow()

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

◆ resizeCapsule()

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

resize the capsule CapsuleName.

Parameters

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

◆ setBackgroundColor1()

boolean gepetto::corbaserver::GraphicalInterface::setBackgroundColor1	(	in WindowID	wid,
		in Color	RGBAcolor
	)

change the background color1

Parameters

wid	: ID of the window
RGBAcolor	: desired color

◆ setBackgroundColor2()

boolean gepetto::corbaserver::GraphicalInterface::setBackgroundColor2	(	in WindowID	wid,
		in Color	RGBAcolor
	)

change the background color2

Parameters

wid	: ID of the window
RGBAcolor	: desired color

◆ setBoolProperty()

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

◆ setCameraTransform()

boolean gepetto::corbaserver::GraphicalInterface::setCameraTransform	(	in WindowID	wid,
		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

wid	: ID of the window
configuration	: the desired configuration of the camera

◆ setCaptureTransform()

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)

◆ setColor()

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

Change the color of a node.

Parameters

nodeName	: name of the node.
color	: new color

◆ setColorProperty()

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

◆ setCurveColors()

boolean gepetto::corbaserver::GraphicalInterface::setCurveColors	(	in string	name,
		in ColorSeq	pos
	)
raises	(	Error
	)

set colors of a curve called curveName (there should be one color per points).

Parameters

name	: name of the line.
color	: color of each point.

◆ setCurveLineWidth()

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

◆ setCurveMode()

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

Parameters

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

◆ setCurvePoints()

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

set points of a curve called curveName.

Parameters

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

◆ setCurvePointsSubset()

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

◆ setFloatProperty()

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

◆ setHighlight()

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

Change the highlight status

Parameters

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

◆ setIntProperty()

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

◆ setLightingMode()

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

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

◆ setLineEndPoint()

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

change terminal point position of a line.

Parameters

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

◆ setLineExtremalPoints()

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

change extremity positions of a line.

Parameters

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

◆ setLineStartPoint()

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

change starting point position of a line.

Parameters

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

◆ setRefreshIsSynchronous()

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.

◆ setScale()

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

Change the scale of a node.

Parameters

nodeName	: name of the node.
scale	: new scale

◆ setStaticTransform()

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

set the static transform of the node

Parameters

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

◆ setStringProperty()

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

◆ setTexture()

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.

◆ setVector2Property()

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

◆ setVector3Property()

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

◆ setVisibility()

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

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

◆ setWireFrameMode()

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

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

◆ startCapture()

boolean gepetto::corbaserver::GraphicalInterface::startCapture	(	in WindowID	wid,
		in string	filename,
		in string	extension
	)
raises	(	Error
	)

Start capturing a window into image files.

Parameters

wid	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.

◆ stopCapture()

boolean gepetto::corbaserver::GraphicalInterface::stopCapture	(	in WindowID	wid	)
raises	(	Error
	)

Stop the running capture of a window.

◆ writeBlenderScript()

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.

◆ writeNodeFile()

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

Write a node and its children to filename.

◆ writeWindowFile()

boolean gepetto::corbaserver::GraphicalInterface::writeWindowFile	(	in WindowID	wid,
		in string	filename
	)
raises	(	Error
	)

Write the nodes contained in the window to filename.

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

idl/gepetto/viewer/graphical-interface.idl

Public Member Functions

Detailed Description

Member Function Documentation

◆ addArrow()

◆ addBox()

◆ addCapsule()

◆ addCone()

◆ addCurve()

◆ addCylinder()

◆ addEdgeToRoadmap()

◆ addFloor()

◆ addLandmark()

◆ addLight()

◆ addLine()

◆ addMesh()

◆ addNodeToRoadmap()

◆ addRod()

◆ addSceneToWindow()

◆ addSphere()

◆ addSquareFace()

◆ addToGroup()

◆ addTriangleFace()

◆ addURDF()

◆ addUrdfCollision()

◆ addUrdfObjects()

◆ addXYZaxis()

◆ applyConfiguration()

◆ applyConfigurations()

◆ attachCameraToNode()

◆ callVoidProperty()

◆ captureFrame()

◆ captureTransform()

◆ captureTransformOnRefresh()

◆ createGroup()

◆ createRoadmap()

◆ createScene()

◆ createSceneWithFloor()

◆ createWindow()

◆ deleteLandmark()

◆ deleteNode()

◆ detachCamera()

◆ getBoolProperty()

◆ getCameraTransform()

◆ getColorProperty()

◆ getFloatProperty()

◆ getGroupNodeList()

◆ getIntProperty()

◆ getNodeGlobalTransform()

◆ getNodeList()

◆ getPropertyNames()

◆ getPropertyTypes()

◆ getSceneList()

◆ getStaticTransform()

◆ getStringProperty()

◆ getVector2Property()

◆ getVector3Property()

◆ getWindowID()

◆ getWindowList()

◆ nodeExists()

◆ refresh()

◆ registerNodeCallback()

◆ removeFromGroup()

◆ removeLightSources()

◆ resizeArrow()

◆ resizeCapsule()

◆ setBackgroundColor1()

◆ setBackgroundColor2()

◆ setBoolProperty()

◆ setCameraTransform()

◆ setCaptureTransform()

◆ setColor()

◆ setColorProperty()

◆ setCurveColors()

◆ setCurveLineWidth()

◆ setCurveMode()

◆ setCurvePoints()

◆ setCurvePointsSubset()

◆ setFloatProperty()

◆ setHighlight()

◆ setIntProperty()