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

def	createWindowAndScene (self, viewerClient, name)

def	addCallback (self, cb)

def	buildRobotBodies (self)

def	addLandmark (self, linkname, size)

def	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)

def	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)

def	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)

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

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

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

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

def	computeObjectPosition (self)

def	publishRobots (self)

def	__call__ (self, args)

def	startCapture (self, filename, extension)

def	stopCapture (self)

def	captureFrame (self, filename)

def	toggleVisual (self, visual)

def	drawRobotAABB (self)

Public Attributes
	problemSolver

	robot

	collisionURDF

	color

	client

	callbacks

	displayName

	displayArrows

	colorVelocity

	colorAcceleration

	arrowRadius

	arrowMinSize

	arrowMaxSize

	amax

	vmax

	displayCoM

	windowName

	windowId

	sceneName

	robotBodies

	guiObjectNames

	hppObjectNames

	robotConfig

Static Public Attributes
string	sceneName = "0_scene_hpp_"

bool	removeLightSources = True

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()

def 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()

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

◆ addCallback()

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

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

◆ addLandmark()

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

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

◆ buildRobotBodies()

def gepetto.viewer.Viewer.buildRobotBodies ( self )

◆ captureFrame()

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

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

◆ computeObjectPosition()

def 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()

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

◆ displayPathMap()

def 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()

def 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()

def gepetto.viewer.Viewer.drawRobotAABB ( self )

◆ loadObstacleModel()

def 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()

def 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()

def 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()

def 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()

def gepetto.viewer.Viewer.publishRobots ( self )

◆ solveAndDisplay()

def 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()

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

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

◆ stopCapture()

def gepetto.viewer.Viewer.stopCapture ( self )

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

◆ toggleVisual()

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

Member Data Documentation

◆ amax

gepetto.viewer.Viewer.amax

◆ arrowMaxSize

gepetto.viewer.Viewer.arrowMaxSize

◆ arrowMinSize

gepetto.viewer.Viewer.arrowMinSize

◆ arrowRadius

gepetto.viewer.Viewer.arrowRadius

◆ callbacks

gepetto.viewer.Viewer.callbacks

◆ client

gepetto.viewer.Viewer.client

◆ collisionURDF

gepetto.viewer.Viewer.collisionURDF

◆ color

gepetto.viewer.Viewer.color

◆ colorAcceleration

gepetto.viewer.Viewer.colorAcceleration

◆ colorVelocity

gepetto.viewer.Viewer.colorVelocity

◆ displayArrows

gepetto.viewer.Viewer.displayArrows

◆ displayCoM

gepetto.viewer.Viewer.displayCoM

◆ displayName

gepetto.viewer.Viewer.displayName

◆ guiObjectNames

gepetto.viewer.Viewer.guiObjectNames

◆ hppObjectNames

gepetto.viewer.Viewer.hppObjectNames

◆ problemSolver

gepetto.viewer.Viewer.problemSolver

◆ removeLightSources

bool gepetto.viewer.Viewer.removeLightSources = True

static

◆ robot

gepetto.viewer.Viewer.robot

◆ robotBodies

gepetto.viewer.Viewer.robotBodies

◆ robotConfig

gepetto.viewer.Viewer.robotConfig

◆ sceneName [1/2]

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