mc_rbdyn::gui Namespace Reference

Functions
MC_RBDYN_DLLAPI void	addConvexToGUI (mc_rtc::gui::StateBuilder &gui, const std::vector< std::string > &category, const mc_rbdyn::Robot &robot, const std::string &name, const mc_rtc::gui::PolyhedronConfig &cfg=defaultConvexConfig, const std::optional< std::string > &publishName=std::nullopt)
MC_RBDYN_DLLAPI std::vector< std::string >	addSurfaceToGUI (mc_rtc::gui::StateBuilder &gui, const std::vector< std::string > &category, const mc_rbdyn::Robot &robot, const std::string &name, const mc_rtc::gui::LineConfig &cfg=defaultSurfaceConfig, const std::optional< std::string > &publishName=std::nullopt)

Function Documentation

addConvexToGUI()

MC_RBDYN_DLLAPI void mc_rbdyn::gui::addConvexToGUI	(	mc_rtc::gui::StateBuilder &	gui,
		const std::vector< std::string > &	category,
		const mc_rbdyn::Robot &	robot,
		const std::string &	name,
		const mc_rtc::gui::PolyhedronConfig &	cfg = defaultConvexConfig,
		const std::optional< std::string > &	publishName = std::nullopt
	)

Helper function to create a GUI element from a convex object inside a robot

Parameters

gui	State builder where the object is added (typically controller.gui()
category	Category where the object is added
cfg	Configuration of the appearance of the convex object
robot	Robot that the convex belongs to, this reference is captured by the GUI and should survive
name	Name of the collision object added to the GUI, the object should remain in the robot while it is in the GUI
publishName	Name of the object in the GUI, defaults to
name

addSurfaceToGUI()

MC_RBDYN_DLLAPI std::vector<std::string> mc_rbdyn::gui::addSurfaceToGUI	(	mc_rtc::gui::StateBuilder &	gui,
		const std::vector< std::string > &	category,
		const mc_rbdyn::Robot &	robot,
		const std::string &	name,
		const mc_rtc::gui::LineConfig &	cfg = defaultSurfaceConfig,
		const std::optional< std::string > &	publishName = std::nullopt
	)

Helper function to create a GUI element from a surface object inside a robot

Multiple elements can be added based on the surface type (e.g. for a planar surface, the polygon and the normal are added) so this function returns the names of the elements that were added

Parameters

gui	State builder where the object is added (typically controller.gui()
category	Category where the object is added
cfg	Configuration for the surface polygon
robot	Robot that the surfaces belongs to, this reference is captured by the GUI and should survive
name	Name of the surface added to the GUI, the object should remain in the robot while it is in the GUI
publishName	Name of the object in the GUI, defaults to
name

Returns

The names of the elements added by the function