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; } }