void ColorPositionParameterDefinition::setDefaultValues(ActionInstance *actionInstance)
{
actionInstance->setSubParameter(name().original(), "position", defaultPosition());
QColor localDefaultColor = defaultColor();
actionInstance->setSubParameter(name().original(), "color", QString("%1:%2:%3").arg(localDefaultColor.red()).arg(localDefaultColor.green()).arg(localDefaultColor.blue()));
}
Light::Light() {
lightNum = nextLightNum;
nextLightNum++;
defaultPosition();
defaultAmbient();
defaultSpecular();
defaultDiffuse();
}
virtual void setRobotDescription(robot_desc::URDF *file)
{
planning_node_util::NodeCollisionModel::setRobotDescription(file);
defaultPosition();
printf("=======================================\n");
m_kmodel->printModelInfo();
printf("=======================================\n");
/* set the data for the model */
RKPModel *model = new RKPModel();
model->collisionSpaceID = 0;
model->collisionSpace = m_collisionSpace;
model->kmodel = m_kmodel;
model->groupName = m_kmodel->name;
createMotionPlanningInstances(model);
/* remember the model by the robot's name */
m_models[model->groupName] = model;
/* create a model for each group */
std::vector<std::string> groups;
m_kmodel->getGroups(groups);
for (unsigned int i = 0 ; i < groups.size() ; ++i)
{
RKPModel *model = new RKPModel();
model->collisionSpaceID = 0;
model->collisionSpace = m_collisionSpace;
model->kmodel = m_kmodel;
model->groupID = m_kmodel->getGroupID(groups[i]);
model->groupName = groups[i];
createMotionPlanningInstances(model);
m_models[model->groupName] = model;
}
}
