gepetto-viewer-corba  5.6.0
Corba server for gepetto-viewer
gepetto.corbaserver.tools.Vector6 Class Reference

Helper class to plot a 6D vector with one Linear and one Angular arrow. More...

Public Member Functions

def __init__ (self, groupName, angFactor=pi, linFactor=1.)
 Constructor To tune the parameter of the 3D arrows, directly acces the attributes: More...
 
def create (self, gui)
 Create the node in the GUI. More...
 
def remove (self, gui)
 Delete the node in the GUI. More...
 
def set (self, gui, value, origin=(0, 0, 0))
 Set the 6D vector to plot. More...
 

Public Attributes

 name
 
 linear
 The Linear part. More...
 
 angular
 The Angular part. More...
 
 angF
 The factor sent to Angular.set. More...
 
 linF
 The factor sent to Linear.set. More...
 

Static Public Attributes

string suffixLin = "linear"
 
string suffixAng = "angular"
 

Detailed Description

Helper class to plot a 6D vector with one Linear and one Angular arrow.

The 3 first components of the 6D vector are sent to the Linear arrow and the 3 last ones are sent to the Angular arrow. It is useful to plot velocities of a body, forces and torques... Example usage:

from gepetto.corbaserver import Client
from gepetto.corbaserver.tools import Vector6
client = Client()
gui = client.gui
gui.createWindow ("window")
vector = Vector6 ("window")
vector.create (gui)
vector.set (gui, [.1, .2, .3, .1, -.2, .3])

Constructor & Destructor Documentation

◆ __init__()

def gepetto.corbaserver.tools.Vector6.__init__ (   self,
  groupName,
  angFactor = pi,
  linFactor = 1. 
)

Constructor To tune the parameter of the 3D arrows, directly acces the attributes:

Member Function Documentation

◆ create()

def gepetto.corbaserver.tools.Vector6.create (   self,
  gui 
)

Create the node in the GUI.

◆ remove()

def gepetto.corbaserver.tools.Vector6.remove (   self,
  gui 
)

Delete the node in the GUI.

◆ set()

def gepetto.corbaserver.tools.Vector6.set (   self,
  gui,
  value,
  origin = (0,0,0) 
)

Set the 6D vector to plot.

Parameters
guithe IDL client (typically the gui attribute of class gepetto.corbaserver.client.Client)
valuethe vector to plot (list or tuple of 6 elements)
originthe translation of the origin (list or tuple of 3 elements)

Member Data Documentation

◆ angF

gepetto.corbaserver.tools.Vector6.angF

The factor sent to Angular.set.

◆ angular

gepetto.corbaserver.tools.Vector6.angular

The Angular part.

◆ linear

gepetto.corbaserver.tools.Vector6.linear

The Linear part.

◆ linF

gepetto.corbaserver.tools.Vector6.linF

The factor sent to Linear.set.

◆ name

gepetto.corbaserver.tools.Vector6.name

◆ suffixAng

string gepetto.corbaserver.tools.Vector6.suffixAng = "angular"
static

◆ suffixLin

string gepetto.corbaserver.tools.Vector6.suffixLin = "linear"
static

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