Public Member Functions
	__init__ (self, problemSolver)

	buildRobotBodies (self)

	addLandmark (self, linkname, size)

	loadObstacleModel (self, filename, prefix, guiOnly=False)

	loadPolyhedronObstacleModel (self, name, filename, guiOnly=False)

	loadPointCloudFromPoints (self, str name, float resolution, list[Point3D] points, list[ColorRGBA]\|None colors=None, bool guiOnly=False)

	moveObstacle (self, name, position, guiOnly=False)

	computeObjectPosition (self)

	publishRobots (self)

	displayRoadmap (self, nameRoadmap, radiusSphere=0.01, sizeAxis=0.03, colorNode=[1.0, 1.0, 1.0, 1.0], colorEdge=[0.85, 0.75, 0.15, 0.7], joint=None)

	__call__ (self, args)

	addCallback (self, cb)

	createViewer (self, ViewerClass=Viewer, viewerClient=None, ghost=False, host=None, args, *kwargs)

Public Attributes
	guiRequest

	problemSolver

	robot

Static Public Attributes
bool	removeLightSources = True

Detailed Description

Viewer factory

Store commands to be sent to \\c gepetto-viewer-server, create
clients on demand and send stored commands.

Constructor & Destructor Documentation

◆ init()

gepetto.viewer_factory.ViewerFactory.__init__	(		self,
			problemSolver )

Constructor
\\param problemSolver instance of
       hpp.corbaserver.problem_solver.ProblemSolver,

Member Function Documentation

◆ call()

gepetto.viewer_factory.ViewerFactory.__call__	(		self,
			args )

◆ addCallback()

gepetto.viewer_factory.ViewerFactory.addCallback	(		self,
			cb )

◆ addLandmark()

gepetto.viewer_factory.ViewerFactory.addLandmark	(	self,
		linkname,
		size )

◆ buildRobotBodies()

gepetto.viewer_factory.ViewerFactory.buildRobotBodies ( self )

◆ computeObjectPosition()

gepetto.viewer_factory.ViewerFactory.computeObjectPosition ( self )

◆ createViewer()

gepetto.viewer_factory.ViewerFactory.createViewer	(		self,
			ViewerClass = Viewer,
			viewerClient = None,
			ghost = False,
			host = None,
		*	args,
		**	kwargs )

Create a client to \\c gepetto-viewer-server and send stored commands

The arguments of Viewer.__init__ can be passed through kwargs

◆ displayRoadmap()

gepetto.viewer_factory.ViewerFactory.displayRoadmap	(	self,
		nameRoadmap,
		radiusSphere = 0.01,
		sizeAxis = 0.03,
		colorNode = [1.0, 1.0, 1.0, 1.0],
		colorEdge = [0.85, 0.75, 0.15, 0.7],
		joint = None )

◆ loadObstacleModel()

gepetto.viewer_factory.ViewerFactory.loadObstacleModel	(	self,
		filename,
		prefix,
		guiOnly = False )

Load obstacles from a urdf file

\\param filename name of the urdf file, may contain "package://"
\\param prefix prefix added to object names in case the same file
       is loaded several times,
\\param guiOnly whether to control only gepetto-viewer-server

◆ loadPointCloudFromPoints()

gepetto.viewer_factory.ViewerFactory.loadPointCloudFromPoints	(		self,
		str	name,
		float	resolution,
		list[Point3D]	points,
		list[ColorRGBA] \| None	colors = None,
		bool	guiOnly = False )

Load a point cloud as an obstacle

\\param name name of the object,
\\param resolution the Octomap OcTree resolution.
\\param points a Nx3 matrix representing the points of the point cloud.
\\param colors a Nx4 matrix representing the colors of the point cloud, if any.
\\param guiOnly whether to control only gepetto-viewer-server

◆ loadPolyhedronObstacleModel()

gepetto.viewer_factory.ViewerFactory.loadPolyhedronObstacleModel	(	self,
		name,
		filename,
		guiOnly = False )

Load polyhedron from a 3D mesh file

\\param filename name of the 3D mesh file, may contain "package://"
\\param name name of the object,
\\param guiOnly whether to control only gepetto-viewer-server

◆ moveObstacle()

gepetto.viewer_factory.ViewerFactory.moveObstacle	(	self,
		name,
		position,
		guiOnly = False )

Move Obstacle

\\param name Name of the object
\\param position Position of the object as a 7-d vector
       (translation-quaternion)
\\param guiOnly whether to control only gepetto-viewer-server

◆ publishRobots()

gepetto.viewer_factory.ViewerFactory.publishRobots ( self )

Member Data Documentation

◆ guiRequest

gepetto.viewer_factory.ViewerFactory.guiRequest

◆ problemSolver

gepetto.viewer_factory.ViewerFactory.problemSolver

◆ removeLightSources

bool gepetto.viewer_factory.ViewerFactory.removeLightSources = True

static

◆ robot

gepetto.viewer_factory.ViewerFactory.robot

The documentation for this class was generated from the following file:

src/hpp/gepetto/viewer_factory.py

Public Member Functions

Public Attributes

Static Public Attributes