C++ (Cpp) RobotNodeSetPtr::getTCP Examples

Example #1

File: PoseQualityMeasurement.cpp Project: TheMarex/simox

PoseQualityMeasurement::PoseQualityMeasurement(VirtualRobot::RobotNodeSetPtr rns)
:rns(rns)
{
	THROW_VR_EXCEPTION_IF( (!rns || !rns->getTCP()), "NULL data");
	name = "PoseQualityMeasurement";
	considerObstacle = false;
	verbose = false;
}

Example #2

File: SimoxRobotViewer.cpp Project: xufango/contrib_bk

bool SimoxRobotViewer::showPath( const std::string &pathName, VirtualRobot::TrajectoryPtr path, VirtualRobot::VisualizationFactory::Color c )
{
	removePath(pathName);
	if (!path)
		return false;
	lock();
	VirtualRobot::RobotNodeSetPtr rns = path->getRobotNodeSet();
	if (!rns)
	{
		VR_ERROR << "No rns" << endl;
        unlock();
		return false;
	}
	RobotNodePtr tcp = rns->getTCP();
	if (!tcp)
	{
		VR_ERROR << "No tcp" << endl;
		unlock();
		return false;
	}
	SoSeparator *sep = new SoSeparator;
	sep->addChild(VirtualRobot::CoinVisualizationFactory::getCoinVisualization(path));
	//Saba::CoinRrtWorkspaceVisualization cv(robot,cspace,tcp->getName());
	//cv.setCustomColor(c.r,c.g,c.b);
	//cv.addCSpacePath(path,Saba::CoinRrtWorkspaceVisualization::eCustom);
	//SoSeparator *sep = cv.getCoinVisualization();
	if (!sep)
	{
		unlock();
		return false;
	}
	pathData pd;
	pd.trajectory = path;
	pd.visu = sep;
	paths[pathName] = pd;

	// add visu
	sceneSep->addChild(sep);
	unlock();
	return true;
}