Public Member Functions
	__init__ (self, problemSolver, viewerClient=None, ghost=False, collisionURDF=False, displayName=None, displayArrows=False, displayCoM=False)

	createWindowAndScene (self, viewerClient, name)

	addCallback (self, cb)

	buildRobotBodies (self)

	addLandmark (self, linkname, size)

	displayPathMap (self, nameRoadmap, pathID, radiusSphere=0.03, sizeAxis=0.09, colorNode=[1, 0.0, 0.0, 1.0], colorEdge=[1, 0.0, 0.0, 0.5], joint=None)

	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)

	solveAndDisplay (self, nameRoadmap, numberIt, 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 (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)

	__call__ (self, args)

	startCapture (self, filename, extension)

	stopCapture (self)

	captureFrame (self, filename)

	toggleVisual (self, visual)

	drawRobotAABB (self)

Public Attributes
	problemSolver = problemSolver

	robot = problemSolver.robot

	collisionURDF = collisionURDF

	color = Color()

	client = viewerClient

list	callbacks = []

	displayName = displayName

	displayArrows = displayArrows

list	colorVelocity = [0.2, 1, 0, 0.6]

list	colorAcceleration = [1, 0, 0, 0.6]

float	arrowRadius = 0.01

float	arrowMinSize = 0.05

float	arrowMaxSize = 1.0 - self.arrowMinSize

	amax

	vmax

	displayCoM = displayCoM

str	windowName = "scene_" + name

	windowId = viewerClient.gui.getWindowID(self.windowName)

	robotBodies = list()

list	guiObjectNames = [prefix + o for j, prefix, o in self.robotBodies]

list	hppObjectNames = [o for j, prefix, o in self.robotBodies]

	robotConfig

Static Public Attributes
str	sceneName = "0_scene_hpp_"

bool	removeLightSources = True

Protected Member Functions
	_removeLightSources (self, nodes)

	_initDisplay (self)

Detailed Description

Simultaneous control of hppcorbaserver and gepetto-viewer-server

This class implements clients to both
\\li hppcorbaserver through hpp.corbaserver.problem_solver.ProblemSolver
    python class,
\\li gepetto-viewer-server through gepetto.corbaserver.Client python class.

Operation that need to be synchronized between hppcorbaserver internal
model and graphical user interface should be implemented by this class.

Constructor & Destructor Documentation

◆ init()

gepetto.viewer.Viewer.__init__	(	self,
		problemSolver,
		viewerClient = None,
		ghost = False,
		collisionURDF = False,
		displayName = None,
		displayArrows = False,
		displayCoM = False )

Constructor
\\param problemSolver object of type ProblemSolver
\\param viewerClient if not provided, a new client to
       gepetto-viewer-server is created.
\\param displayArrow if True, the publish method will display 2 arrows
                     representing the velocity (green) and acceleration
                     (red) of the root.
           This parameter can only be used if the robot have at least 6
           extraDOF storing the velocity and acceleration of the root.
\\param displayCoM if True, the publish method will also display a small red
                   sphere representing the position of the CoM for the
                   published configuration.

The robot loaded in hppcorbaserver is loaded into gepetto-viewer-server.

Member Function Documentation

◆ call()

gepetto.viewer.Viewer.__call__	(		self,
			args )

◆ _initDisplay()

gepetto.viewer.Viewer._initDisplay ( self )

protected

◆ _removeLightSources()

gepetto.viewer.Viewer._removeLightSources	(		self,
			nodes )

protected

◆ addCallback()

gepetto.viewer.Viewer.addCallback	(		self,
			cb )

\\param cb Callable object, whose arguments are this object
and a robot configuration.

◆ addLandmark()

gepetto.viewer.Viewer.addLandmark	(	self,
		linkname,
		size )

 Add a landmark
\\sa gepetto::corbaserver::GraphicalInterface::addLandmark

◆ buildRobotBodies()

gepetto.viewer.Viewer.buildRobotBodies ( self )

◆ captureFrame()

gepetto.viewer.Viewer.captureFrame	(		self,
			filename )

Save current scene to image.
\\sa gepetto::corbaserver::GraphicalInterface::captureFrame

◆ computeObjectPosition()

gepetto.viewer.Viewer.computeObjectPosition ( self )

Synchronize object positions in gepetto-viewer-server

Get position of objects from hppcorbaserver and forward to
gepetto-viewer-server.

◆ createWindowAndScene()

gepetto.viewer.Viewer.createWindowAndScene	(	self,
		viewerClient,
		name )

◆ displayPathMap()

gepetto.viewer.Viewer.displayPathMap	(	self,
		nameRoadmap,
		pathID,
		radiusSphere = 0.03,
		sizeAxis = 0.09,
		colorNode = [1, 0.0, 0.0, 1.0],
		colorEdge = [1, 0.0, 0.0, 0.5],
		joint = None )

Display the part of the roadmap used by the solution path
\\param nameRoadmap : the name of the osgNode added to the scene
\\param pathID : the id of the path we want to display
\\param radiusSphere : the radius of the node
\\param sizeAxis : size of axes (proportionnaly to the radius of the sphere)
                   0 = only sphere
\\param colorNode : the color of the sphere for the nodes (default value : red)
\\param colorEdge : the color of the edges (default value : light red)
\\param joint : the link we want to display the configuration
                (by defaut, root link of the robot)
BE CAREFULL : in the .py file wich init the robot, you must define a valid
                tf_root (this is the displayed joint by default)
notes : the edges are always straight lines and doesn't represent the real
        path beetwen the configurations of the nodes

◆ displayRoadmap()

gepetto.viewer.Viewer.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 )

Display the roadmap created by problem.solve()
\\param radiusSphere : the radius of the node
\\param sizeAxis : size of axes (proportionnaly to the radius of the sphere)
                  0 = only sphere
\\param colorNode : the color of the sphere for the nodes
                    (default value : white)
\\param colorEdge : the color of the edges (default value : yellow)
\\param joint : the link we want to display the configuration
               (by defaut, root link of the robot)
BE CAREFULL : in the .py file wich init the robot, you must define a valid
              tf_root (this is the displayed joint by default)
notes : the edges are always straight lines and doesn't represent the real
        path beetwen the configurations of the nodes

◆ drawRobotAABB()

gepetto.viewer.Viewer.drawRobotAABB ( self )

◆ loadObstacleModel()

gepetto.viewer.Viewer.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.Viewer.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.Viewer.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.Viewer.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.Viewer.publishRobots ( self )

◆ solveAndDisplay()

gepetto.viewer.Viewer.solveAndDisplay	(	self,
		nameRoadmap,
		numberIt,
		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 )

build the roadmap and diplay it during construction
(delete existing roadmap if problem already solved )
\\param nameRoadmap : name of the new roadmap
\\param numberIt : number of iteration beetwen to refresh of the roadmap
(be careful, if numberIt is too low it can crash gepetto-viewer-server)
\\param radiusSphere : the radius of the node
\\param sizeAxis : size of axes (proportionnaly to the radius of the sphere)
                    0 = only sphere
\\param colorNode : the color of the sphere for the nodes
                    (default value : white)
\\param colorEdge : the color of the edges (default value : yellow)
\\param joint : the link we want to display the configuration
                (by defaut, root link of the robot)

◆ startCapture()

gepetto.viewer.Viewer.startCapture	(	self,
		filename,
		extension )

Start a screen capture
\\sa gepetto::corbaserver::GraphicalInterface::startCapture

◆ stopCapture()

gepetto.viewer.Viewer.stopCapture ( self )

Stop a screen capture
\\sa gepetto::corbaserver::GraphicalInterface::stopCapture

◆ toggleVisual()

gepetto.viewer.Viewer.toggleVisual	(		self,
			visual )

Member Data Documentation

◆ amax

gepetto.viewer.Viewer.amax

Initial value:

=  omniORB.any.from_any(
                self.problemSolver.hppcorba.problem.getParameter(
                    "Kinodynamic/accelerationBound"
                )
            )

◆ arrowMaxSize

gepetto.viewer.Viewer.arrowMaxSize = 1.0 - self.arrowMinSize

◆ arrowMinSize

gepetto.viewer.Viewer.arrowMinSize = 0.05

◆ arrowRadius

gepetto.viewer.Viewer.arrowRadius = 0.01

◆ callbacks

list gepetto.viewer.Viewer.callbacks = []

◆ client

gepetto.viewer.Viewer.client = viewerClient

◆ collisionURDF

gepetto.viewer.Viewer.collisionURDF = collisionURDF

◆ color

gepetto.viewer.Viewer.color = Color()

◆ colorAcceleration

gepetto.viewer.Viewer.colorAcceleration = [1, 0, 0, 0.6]

◆ colorVelocity

gepetto.viewer.Viewer.colorVelocity = [0.2, 1, 0, 0.6]

◆ displayArrows

gepetto.viewer.Viewer.displayArrows = displayArrows

◆ displayCoM

gepetto.viewer.Viewer.displayCoM = displayCoM

◆ displayName

gepetto.viewer.Viewer.displayName = displayName

◆ guiObjectNames

gepetto.viewer.Viewer.guiObjectNames = [prefix + o for j, prefix, o in self.robotBodies]

◆ hppObjectNames

list gepetto.viewer.Viewer.hppObjectNames = [o for j, prefix, o in self.robotBodies]

◆ problemSolver

gepetto.viewer.Viewer.problemSolver = problemSolver

◆ removeLightSources

bool gepetto.viewer.Viewer.removeLightSources = True

static

◆ robot

gepetto.viewer.Viewer.robot = problemSolver.robot

◆ robotBodies

gepetto.viewer.Viewer.robotBodies = list()

◆ robotConfig

gepetto.viewer.Viewer.robotConfig

◆ sceneName

gepetto.viewer.Viewer.sceneName = "0_scene_hpp_"