void RobotVisualization::setSegmentNamesEnabled(bool value)
{
segmentNamesEnabled_ = value;
for (size_t i=0; i<segmentNames_.size(); i++){
OSGSegment* seg = getSegment(segmentNames_[i]);
if(value)
seg->attachTextLabel();
else
seg->removeTextLabel();
}
}
void RobotVisualization::setModelFile(QString modelFile)
{
//Extact file extension
QStringList tokens = modelFile.split(QChar('.'));
QString ext = tokens.back();
LOG_INFO("loading %s", modelFile.toLatin1().data());
bool st;
st = load(modelFile);
if(!st)
LOG_FATAL_S << "cannot load " << modelFile.toStdString()
<< ", it either does not exist or is not a proper robot model file";
else
_modelFile = modelFile;
//emit propertyChanged("modelFile");
// Now create a RBS visualization for each of the frames in the model
deleteFrameVisualizers();
vector<string> segments = getSegmentNames();
for (std::size_t i = 0; i != segments.size(); ++i)
{
OSGSegment* segment = getSegment(segments[i]);
assert(segment);
vizkit3d::RigidBodyStateVisualization* frame =
new vizkit3d::RigidBodyStateVisualization(this);
frame->setPluginName(QString::fromStdString(segments[i]));
osg::ref_ptr<osg::Group> frame_attachment = frame->getRootNode();
osg::ref_ptr<osg::StateSet> state = frame_attachment->getOrCreateStateSet();
state->setMode(GL_DEPTH_TEST, osg::StateAttribute::OFF);
segment->getGroup()->addChild(frame_attachment);
_frameVisualizers[segments[i]] = frame;
}
setFramesEnabled(areFramesEnabled());
setSegmentNamesEnabled(areSegmentNamesEnabled());
emit childrenChanged();
}
void RobotVisualization::createFrameVisualizers()
{
deleteFrameVisualizers();
vector<string> segments = getSegmentNames();
for (std::size_t i = 0; i != segments.size(); ++i)
{
OSGSegment* segment = getSegment(segments[i]);
assert(segment);
vizkit3d::RigidBodyStateVisualization* frame =
new vizkit3d::RigidBodyStateVisualization(this);
frame->setPluginName(QString::fromStdString(segments[i]));
osg::ref_ptr<osg::Group> frame_attachment = frame->getRootNode();
osg::ref_ptr<osg::StateSet> state = frame_attachment->getOrCreateStateSet();
state->setMode(GL_DEPTH_TEST, osg::StateAttribute::OFF);
segment->getGroup()->addChild(frame_attachment);
_frameVisualizers[segments[i]] = frame;
}
setFramesEnabled(areFramesEnabled());
setSegmentNamesEnabled(areSegmentNamesEnabled());
emit childrenChanged();
}
void RobotVisualization::hideSegmentText(QString link_name){
OSGSegment* seg = getSegment(link_name.toStdString());
seg->removeTextLabel();
}
void RobotVisualization::showSegmentText(QString link_name, QString text){
OSGSegment* seg = getSegment(link_name.toStdString());
seg->attachTextLabel(text.toStdString());
}
