Ejemplo n.º 1
0
void RobotVisualization::setSegmentNamesEnabled(bool value)
{
    segmentNamesEnabled_ = value;
    for (size_t i=0; i<segmentNames_.size(); i++){
        OSGSegment* seg = getSegment(segmentNames_[i]);
        if(value)
            seg->attachTextLabel();
        else
            seg->removeTextLabel();
    }
}
Ejemplo n.º 2
0
void RobotVisualization::setModelFile(QString modelFile)
{
    //Extact file extension
    QStringList tokens = modelFile.split(QChar('.'));
    QString ext = tokens.back();

    LOG_INFO("loading %s", modelFile.toLatin1().data());
    bool st;
    st = load(modelFile);
    if(!st)
        LOG_FATAL_S << "cannot load " << modelFile.toStdString()
                   << ", it either does not exist or is not a proper robot model file";
    else
        _modelFile = modelFile;
    //emit propertyChanged("modelFile");

    // Now create a RBS visualization for each of the frames in the model
    deleteFrameVisualizers();
    vector<string> segments = getSegmentNames();
    for (std::size_t i = 0; i != segments.size(); ++i)
    {
        OSGSegment* segment = getSegment(segments[i]);
        assert(segment);
        vizkit3d::RigidBodyStateVisualization* frame =
                new vizkit3d::RigidBodyStateVisualization(this);
        frame->setPluginName(QString::fromStdString(segments[i]));

        osg::ref_ptr<osg::Group> frame_attachment = frame->getRootNode();
        osg::ref_ptr<osg::StateSet> state = frame_attachment->getOrCreateStateSet();
        state->setMode(GL_DEPTH_TEST, osg::StateAttribute::OFF);

        segment->getGroup()->addChild(frame_attachment);
        _frameVisualizers[segments[i]] = frame;
    }
    setFramesEnabled(areFramesEnabled());
    setSegmentNamesEnabled(areSegmentNamesEnabled());

    emit childrenChanged();
}
void RobotVisualization::createFrameVisualizers()
{
    deleteFrameVisualizers();
    vector<string> segments = getSegmentNames();
    for (std::size_t i = 0; i != segments.size(); ++i)
    {
        OSGSegment* segment = getSegment(segments[i]);
        assert(segment);
        vizkit3d::RigidBodyStateVisualization* frame =
                new vizkit3d::RigidBodyStateVisualization(this);
        frame->setPluginName(QString::fromStdString(segments[i]));

        osg::ref_ptr<osg::Group> frame_attachment = frame->getRootNode();
        osg::ref_ptr<osg::StateSet> state = frame_attachment->getOrCreateStateSet();
        state->setMode(GL_DEPTH_TEST, osg::StateAttribute::OFF);

        segment->getGroup()->addChild(frame_attachment);
        _frameVisualizers[segments[i]] = frame;
    }
    setFramesEnabled(areFramesEnabled());
    setSegmentNamesEnabled(areSegmentNamesEnabled());

    emit childrenChanged();
}
Ejemplo n.º 4
0
void RobotVisualization::hideSegmentText(QString link_name){
    OSGSegment* seg = getSegment(link_name.toStdString());
    seg->removeTextLabel();
}
Ejemplo n.º 5
0
void RobotVisualization::showSegmentText(QString link_name, QString text){
    OSGSegment* seg = getSegment(link_name.toStdString());
    seg->attachTextLabel(text.toStdString());
}