void IKRRTWindow::showCoordSystem() { if (eef) { RobotNodePtr tcp = eef->getTcp(); if (!tcp) { return; } tcp->showCoordinateSystem(UI.checkBoxTCP->isChecked()); } if (object) { object->showCoordinateSystem(UI.checkBoxTCP->isChecked()); } }
bool SimoxRobotViewer::showCoordSystem( const std::string &jointName, bool enable ) { if (!robot) return false; lock(); if (!robot->hasRobotNode(jointName)) { VR_ERROR << "Robot does not know RobotNode with name " << jointName << endl; unlock(); return false; } RobotNodePtr rn = robot->getRobotNode(jointName); if (!rn) { unlock(); return false; } rn->showCoordinateSystem(enable); unlock(); setRobot(robot); return true; }