gepetto.viewer_factory.ViewerFactory Class Reference

Public Member Functions
def	__init__ (self, problemSolver)
def	buildRobotBodies (self)
def	addLandmark (self, linkname, size)
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	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	__call__ (self, args)
def	addCallback (self, cb)
def	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__()

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

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

Member Function Documentation

__call__()

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

addCallback()

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

addLandmark()

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

buildRobotBodies()

def gepetto.viewer_factory.ViewerFactory.buildRobotBodies

(

self

)

computeObjectPosition()

def gepetto.viewer_factory.ViewerFactory.computeObjectPosition

(

self

)

createViewer()

def 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()

def 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()

def 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()

def 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()

def 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()

def 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()

def 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

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

• src/hpp/gepetto/viewer_factory.py