gepetto.viewer_factory.ViewerFactory Class Reference

Viewer factory. More...

Inheritance diagram for gepetto.viewer_factory.ViewerFactory:

Collaboration diagram for gepetto.viewer_factory.ViewerFactory:

Public Member Functions
def	__init__ (self, problemSolver)
	Constructor. More...
def	buildRobotBodies (self)
def	addLandmark (self, linkname, size)
def	loadObstacleModel (self, filename, prefix, guiOnly=False)
	Load obstacles from a urdf file. More...
def	loadPolyhedronObstacleModel (self, name, filename, guiOnly=False)
	Load polyhedron from a 3D mesh file. More...
def	moveObstacle (self, name, position, guiOnly=False)
	Move Obstacle. More...
def	computeObjectPosition (self)
def	publishRobots (self)
def	displayRoadmap (self, nameRoadmap, radiusSphere=0.01, sizeAxis=0.03, colorNode=[1.0, colorEdge=[0.85, joint=None)
def	__call__ (self, args)
def	createViewer (self, ViewerClass=Viewer, viewerClient=None, ghost=False, host=None, args, kwargs)
	Create a client to gepetto-viewer-server and send stored commands. More...

Public Attributes
	guiRequest
	problemSolver
	robot

Static Public Attributes
bool	removeLightSources = True
	Whether light sources in collada files should be removed at loading. More...

Detailed Description

Viewer factory.

Store commands to be sent to gepetto-viewer-server, create clients on demand and send stored commands.

Constructor & Destructor Documentation

__init__()

def gepetto.viewer_factory.ViewerFactory.__init__	(		self,
			problemSolver
	)

Constructor.

Parameters

problemSolver

instance of hpp.corbaserver.problem_solver.ProblemSolver,

Member Function Documentation

__call__()

def gepetto.viewer_factory.ViewerFactory.__call__	(		self,
			args
	)

addLandmark()

def gepetto.viewer_factory.ViewerFactory.addLandmark	(		self,
			linkname,
			size
	)

buildRobotBodies()

def gepetto.viewer_factory.ViewerFactory.buildRobotBodies

(

self

)

computeObjectPosition()

def gepetto.viewer_factory.ViewerFactory.computeObjectPosition

(

self

)

createViewer()

def gepetto.viewer_factory.ViewerFactory.createViewer	(		self,
			ViewerClass = Viewer,
			viewerClient = None,
			ghost = False,
			host = None,
			args,
			kwargs
	)

Create a client to gepetto-viewer-server and send stored commands.

The arguments of Viewer.__init__ can be passed through kwargs

displayRoadmap()

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

loadObstacleModel()

def gepetto.viewer_factory.ViewerFactory.loadObstacleModel	(		self,
			filename,
			prefix,
			guiOnly = False
	)

Load obstacles from a urdf file.

Parameters

filename	name of the urdf file, may contain "package://"
prefix	prefix added to object names in case the same file is loaded several times,
guiOnly	whether to control only gepetto-viewer-server

loadPolyhedronObstacleModel()

def gepetto.viewer_factory.ViewerFactory.loadPolyhedronObstacleModel	(		self,
			name,
			filename,
			guiOnly = False
	)

Load polyhedron from a 3D mesh file.

Parameters

filename	name of the 3D mesh file, may contain "package://"
name	name of the object,
guiOnly	whether to control only gepetto-viewer-server

moveObstacle()

def gepetto.viewer_factory.ViewerFactory.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

publishRobots()

def gepetto.viewer_factory.ViewerFactory.publishRobots

(

self

)

Member Data Documentation

guiRequest

gepetto.viewer_factory.ViewerFactory.guiRequest

problemSolver

gepetto.viewer_factory.ViewerFactory.problemSolver

removeLightSources

bool gepetto.viewer_factory.ViewerFactory.removeLightSources = True

static

Whether light sources in collada files should be removed at loading.

robot

gepetto.viewer_factory.ViewerFactory.robot

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

• src/hpp/gepetto/viewer_factory.py