VirtualRobot::VisualizationNodePtr VisualizationNode::CreateUnitedVisualization( const std::vector<VisualizationNodePtr> &visualizations )
{
if (visualizations.size()==0)
return VisualizationNodePtr();
VisualizationFactoryPtr f;
std::vector<VisualizationNodePtr>::const_iterator i = visualizations.begin();
while (!f && i!=visualizations.end())
{
if ((*i)->getType() != VisualizationFactory::getName())
{
f = VisualizationFactory::fromName((*i)->getType(),NULL);
break;
}
i++;
}
if (i==visualizations.end())
{
VR_ERROR << "Could not find visualization factory. Aborting..." << endl;
return VisualizationNodePtr();
}
THROW_VR_EXCEPTION_IF(!f,"No VisualizationFactory");
return f->createUnitedVisualization(visualizations);
}
VisualizationNodePtr VisualizationNode::getAttachedVisualization(const std::string& name)
{
if (!hasAttachedVisualization(name))
{
return VisualizationNodePtr();
}
return attachedVisualizations[name];
}
VisualizationNodePtr Trajectory::getVisualization(std::string visualizationFactoryName)
{
VisualizationFactoryPtr visualizationFactory;
if (visualizationFactoryName.empty())
visualizationFactory=VisualizationFactory::first(NULL);
else
visualizationFactory = VisualizationFactory::fromName(visualizationFactoryName, NULL);
if (!visualizationFactory)
{
VR_ERROR << "Could not create factory for visu type " << visualizationFactoryName << endl;
return VisualizationNodePtr();
}
return visualizationFactory->createTrajectory(shared_from_this());
}
VirtualRobot::VisualizationNodePtr OSGVisualizationFactory::createTrajectory(TrajectoryPtr t, Color colorNode, Color colorLine, float nodeSize, float lineSize)
{
VR_INFO << "init nyi..." << endl;
return VisualizationNodePtr();
}
VirtualRobot::VisualizationNodePtr OSGVisualizationFactory::createPlane( const Eigen::Vector3f &position, const Eigen::Vector3f &normal, float extend, float transparency, float colorR /*= 0.5f*/, float colorG /*= 0.5f*/, float colorB /*= 0.5f*/ )
{
VR_INFO << "init nyi..." << endl;
return VisualizationNodePtr();
}
