Attach this to a Viewer in order to visualize the support polygon of a Skeleton. More...

#include <SupportPolygonVisual.hpp>

Inheritance diagram for dart::gui::osg::SupportPolygonVisual:

Public Member Functions
	SupportPolygonVisual (const dart::dynamics::SkeletonPtr &skeleton=nullptr, double elevation=0.02)
	Visualize the support polygon of an entire Skeleton.

	SupportPolygonVisual (const dart::dynamics::SkeletonPtr &skeleton, std::size_t treeIndex, double elevation=0.02)
	Visualize the support polygon of a specific tree in a Skeleton.

void	setSkeleton (const dart::dynamics::SkeletonPtr &skeleton)
	Change the Skeleton that is being visualized.

dart::dynamics::SkeletonPtr	getSkeleton () const
	Get the Skeleton associated with this visual.

void	visualizeWholeSkeleton ()
	Visualize the entire Skeleton.

void	visualizeTree (std::size_t treeIndex)
	Visualize a specific tree in the Skeleton.

void	setDisplayElevation (double elevation)
	Change the elevation height at which the polygon is displayed.

double	getDisplayElevation () const
	Get the elevation of display for the support polygon.

void	displayPolygon (bool display)
	Display the support polygon.

bool	isPolygonDisplayed () const
	Returns true if the support polygon is being displayed.

void	setPolygonColor (const Eigen::Vector4d &color)
	Set the color of the support polygon.

Eigen::Vector4d	getPolygonColor () const
	Get the color of the support polygon.

void	displayCentroid (bool display)
	Display the centroid.

bool	isCentroidDisplayed () const
	Returns true if the centroid is being displayed.

void	setCentroidRadius (double radius)
	Set the radius of the centroid visualization.

double	getCentroidRadius () const
	Get the radius of the centroid visualization.

void	displayCenterOfMass (bool display)
	Display the center of mass.

bool	isCenterOfMassDisplayed () const
	Returns true if the center of mass is being displayed.

void	setCenterOfMassRadius (double radius)
	Set the radius of the center of mass visualization.

double	getCenterOfMassRadius () const
	Get the radius of the center of mass visualization.

void	setValidCOMColor (const Eigen::Vector4d &color)
	Set the color that will be used for the center of mass if its projection is on the support polygon.

const Eigen::Vector4d &	getValidCOMColor () const
	Get the color that will be used for the center of mass if its projection is on the support polygon.

void	setInvalidCOMColor (const Eigen::Vector4d &color)
	Set the color that will be used for the center of mass if its projection is NOT on the support polygon.

const Eigen::Vector4d &	getInvalidCOMColor () const
	Get the color that will be used for the center of mass if its projection is NOT on the support polygon.

void	refresh () override final
	Update the support polygon visual.

Viewer *	getViewer ()

const Viewer *	getViewer () const

Protected Member Functions
void	initialize ()
	Initialize the memory used by this visual.

virtual void	customAttach (Viewer *newViewer)
	This function will be called by attach(Viewer*) so you can do customized setup when the Viewer changes.

virtual void	attach (Viewer *newViewer)
	This function will get called when the visual is attached to a new Viewer.

Protected Attributes
dart::dynamics::WeakSkeletonPtr	mSkeleton
	Skeleton for this visual.

std::size_t	mTreeIndex
	Tree index for this visual.

double	mElevation
	Elevation that this visual should use.

bool	mDisplayPolygon
	Whether to display the polygon.

bool	mDisplayCentroid
	Whether to display the centroid.

dart::dynamics::SimpleFramePtr	mCentroid
	SimpleFrame for the centroid.

double	mCentroidRadius
	Radius to be used by the centroid.

bool	mDisplayCOM
	Whether to display the center of mass.

dart::dynamics::SimpleFramePtr	mCom
	SimpleFrame for the center of mass.

double	mComRadius
	Radius to be used by the center of mass.

Eigen::Vector4d	mValidColor
	Color to be used when COM is valid.

Eigen::Vector4d	mInvalidColor
	Color to be used when COM is invalid.

::osg::ref_ptr<::osg::Vec4Array >	mPolygonColor
	Color for the polygon.

::osg::ref_ptr<::osg::Geode >	mPolygonGeode
	Geode to hold the polygon.

::osg::ref_ptr<::osg::Geometry >	mPolygonGeom
	Geometry to describe the polygon.

::osg::ref_ptr<::osg::Vec3Array >	mVertices
	Vertices of the polygon.

::osg::ref_ptr<::osg::DrawElementsUShort >	mFaces
	Faces of the polygon.

::osg::ref_ptr< ShapeFrameNode >	mCentroidNode
	Node to render the centroid.

::osg::ref_ptr< ShapeFrameNode >	mComNode
	Node to render the COM.

Private Attributes
Viewer *	mViewer

Detailed Description

Attach this to a Viewer in order to visualize the support polygon of a Skeleton.

Constructor & Destructor Documentation

◆ SupportPolygonVisual() [1/2]

dart::gui::osg::SupportPolygonVisual::SupportPolygonVisual	(	const dart::dynamics::SkeletonPtr &	skeleton = `nullptr`,
		double	elevation = `0.02`
	)

Visualize the support polygon of an entire Skeleton.

◆ SupportPolygonVisual() [2/2]

dart::gui::osg::SupportPolygonVisual::SupportPolygonVisual	(	const dart::dynamics::SkeletonPtr &	skeleton,
		std::size_t	treeIndex,
		double	elevation = `0.02`
	)

Visualize the support polygon of a specific tree in a Skeleton.

Member Function Documentation

◆ attach()

void dart::gui::osg::ViewerAttachment::attach ( Viewer * newViewer )

protectedvirtualinherited

This function will get called when the visual is attached to a new Viewer.

It adds this node as a child to the root node of the Viewer so the refresh() function will be called at each update cycle. It will also call customAttach(Viewer*) so you can do customized setup.

◆ customAttach()

void dart::gui::osg::ViewerAttachment::customAttach ( Viewer * newViewer )

protectedvirtualinherited

This function will be called by attach(Viewer*) so you can do customized setup when the Viewer changes.

By default this function does nothing, so overriding it is completely safe.

◆ displayCenterOfMass()

void dart::gui::osg::SupportPolygonVisual::displayCenterOfMass ( bool display )

Display the center of mass.

◆ displayCentroid()

void dart::gui::osg::SupportPolygonVisual::displayCentroid ( bool display )

Display the centroid.

◆ displayPolygon()

void dart::gui::osg::SupportPolygonVisual::displayPolygon ( bool display )

Display the support polygon.

◆ getCenterOfMassRadius()

double dart::gui::osg::SupportPolygonVisual::getCenterOfMassRadius ( ) const

Get the radius of the center of mass visualization.

◆ getCentroidRadius()

double dart::gui::osg::SupportPolygonVisual::getCentroidRadius ( ) const

Get the radius of the centroid visualization.

◆ getDisplayElevation()

double dart::gui::osg::SupportPolygonVisual::getDisplayElevation ( ) const

Get the elevation of display for the support polygon.

◆ getInvalidCOMColor()

const Eigen::Vector4d & dart::gui::osg::SupportPolygonVisual::getInvalidCOMColor ( ) const

Get the color that will be used for the center of mass if its projection is NOT on the support polygon.

◆ getPolygonColor()

Eigen::Vector4d dart::gui::osg::SupportPolygonVisual::getPolygonColor ( ) const

Get the color of the support polygon.

◆ getSkeleton()

dart::dynamics::SkeletonPtr dart::gui::osg::SupportPolygonVisual::getSkeleton ( ) const

Get the Skeleton associated with this visual.

◆ getValidCOMColor()

const Eigen::Vector4d & dart::gui::osg::SupportPolygonVisual::getValidCOMColor ( ) const

Get the color that will be used for the center of mass if its projection is on the support polygon.

◆ getViewer() [1/2]

Viewer * dart::gui::osg::ViewerAttachment::getViewer ( )

inherited

◆ getViewer() [2/2]

const Viewer * dart::gui::osg::ViewerAttachment::getViewer ( ) const

inherited

◆ initialize()

void dart::gui::osg::SupportPolygonVisual::initialize ( )

protected

Initialize the memory used by this visual.

◆ isCenterOfMassDisplayed()

bool dart::gui::osg::SupportPolygonVisual::isCenterOfMassDisplayed ( ) const

Returns true if the center of mass is being displayed.

◆ isCentroidDisplayed()

bool dart::gui::osg::SupportPolygonVisual::isCentroidDisplayed ( ) const

Returns true if the centroid is being displayed.

◆ isPolygonDisplayed()

bool dart::gui::osg::SupportPolygonVisual::isPolygonDisplayed ( ) const

Returns true if the support polygon is being displayed.

◆ refresh()

void dart::gui::osg::SupportPolygonVisual::refresh ( )

finaloverridevirtual

Update the support polygon visual.

Implements dart::gui::osg::ViewerAttachment.

◆ setCenterOfMassRadius()

void dart::gui::osg::SupportPolygonVisual::setCenterOfMassRadius ( double radius )

Set the radius of the center of mass visualization.

◆ setCentroidRadius()

void dart::gui::osg::SupportPolygonVisual::setCentroidRadius ( double radius )

Set the radius of the centroid visualization.

◆ setDisplayElevation()

void dart::gui::osg::SupportPolygonVisual::setDisplayElevation ( double elevation )

Change the elevation height at which the polygon is displayed.

◆ setInvalidCOMColor()

void dart::gui::osg::SupportPolygonVisual::setInvalidCOMColor ( const Eigen::Vector4d & color )

Set the color that will be used for the center of mass if its projection is NOT on the support polygon.

◆ setPolygonColor()

void dart::gui::osg::SupportPolygonVisual::setPolygonColor ( const Eigen::Vector4d & color )

Set the color of the support polygon.

◆ setSkeleton()

void dart::gui::osg::SupportPolygonVisual::setSkeleton ( const dart::dynamics::SkeletonPtr & skeleton )

Change the Skeleton that is being visualized.

◆ setValidCOMColor()

void dart::gui::osg::SupportPolygonVisual::setValidCOMColor ( const Eigen::Vector4d & color )

Set the color that will be used for the center of mass if its projection is on the support polygon.

◆ visualizeTree()

void dart::gui::osg::SupportPolygonVisual::visualizeTree ( std::size_t treeIndex )

Visualize a specific tree in the Skeleton.

◆ visualizeWholeSkeleton()

void dart::gui::osg::SupportPolygonVisual::visualizeWholeSkeleton ( )

Visualize the entire Skeleton.

Member Data Documentation

◆ mCentroid

dart::dynamics::SimpleFramePtr dart::gui::osg::SupportPolygonVisual::mCentroid

protected

SimpleFrame for the centroid.

◆ mCentroidNode

::osg::ref_ptr<ShapeFrameNode> dart::gui::osg::SupportPolygonVisual::mCentroidNode

protected

Node to render the centroid.

◆ mCentroidRadius

double dart::gui::osg::SupportPolygonVisual::mCentroidRadius

protected

Radius to be used by the centroid.

◆ mCom

dart::dynamics::SimpleFramePtr dart::gui::osg::SupportPolygonVisual::mCom

protected

SimpleFrame for the center of mass.

◆ mComNode

::osg::ref_ptr<ShapeFrameNode> dart::gui::osg::SupportPolygonVisual::mComNode

protected

Node to render the COM.

◆ mComRadius

double dart::gui::osg::SupportPolygonVisual::mComRadius

protected

Radius to be used by the center of mass.

◆ mDisplayCentroid

bool dart::gui::osg::SupportPolygonVisual::mDisplayCentroid

protected

Whether to display the centroid.

◆ mDisplayCOM

bool dart::gui::osg::SupportPolygonVisual::mDisplayCOM

protected

Whether to display the center of mass.

◆ mDisplayPolygon

bool dart::gui::osg::SupportPolygonVisual::mDisplayPolygon

protected

Whether to display the polygon.

◆ mElevation

double dart::gui::osg::SupportPolygonVisual::mElevation

protected

Elevation that this visual should use.

◆ mFaces

::osg::ref_ptr<::osg::DrawElementsUShort> dart::gui::osg::SupportPolygonVisual::mFaces

protected

Faces of the polygon.

◆ mInvalidColor

Eigen::Vector4d dart::gui::osg::SupportPolygonVisual::mInvalidColor

protected

Color to be used when COM is invalid.

◆ mPolygonColor

::osg::ref_ptr<::osg::Vec4Array> dart::gui::osg::SupportPolygonVisual::mPolygonColor

protected

Color for the polygon.

◆ mPolygonGeode

::osg::ref_ptr<::osg::Geode> dart::gui::osg::SupportPolygonVisual::mPolygonGeode

protected

Geode to hold the polygon.

◆ mPolygonGeom

::osg::ref_ptr<::osg::Geometry> dart::gui::osg::SupportPolygonVisual::mPolygonGeom

protected

Geometry to describe the polygon.

◆ mSkeleton

dart::dynamics::WeakSkeletonPtr dart::gui::osg::SupportPolygonVisual::mSkeleton

protected

Skeleton for this visual.

◆ mTreeIndex

std::size_t dart::gui::osg::SupportPolygonVisual::mTreeIndex

protected

Tree index for this visual.

◆ mValidColor

Eigen::Vector4d dart::gui::osg::SupportPolygonVisual::mValidColor

protected

Color to be used when COM is valid.

◆ mVertices

::osg::ref_ptr<::osg::Vec3Array> dart::gui::osg::SupportPolygonVisual::mVertices

protected

Vertices of the polygon.

◆ mViewer

Viewer* dart::gui::osg::ViewerAttachment::mViewer

privateinherited

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SupportPolygonVisual() [1/2]

◆ SupportPolygonVisual() [2/2]

Member Function Documentation

◆ attach()

◆ customAttach()

◆ displayCenterOfMass()

◆ displayCentroid()

◆ displayPolygon()

◆ getCenterOfMassRadius()

◆ getCentroidRadius()

◆ getDisplayElevation()

◆ getInvalidCOMColor()

◆ getPolygonColor()

◆ getSkeleton()

◆ getValidCOMColor()

◆ getViewer() [1/2]

◆ getViewer() [2/2]

◆ initialize()

◆ isCenterOfMassDisplayed()

◆ isCentroidDisplayed()

◆ isPolygonDisplayed()

◆ refresh()

◆ setCenterOfMassRadius()

◆ setCentroidRadius()

◆ setDisplayElevation()

◆ setInvalidCOMColor()

◆ setPolygonColor()

◆ setSkeleton()

◆ setValidCOMColor()

◆ visualizeTree()

◆ visualizeWholeSkeleton()

Member Data Documentation

◆ mCentroid

◆ mCentroidNode

◆ mCentroidRadius

◆ mCom

◆ mComNode

◆ mComRadius

◆ mDisplayCentroid

◆ mDisplayCOM

◆ mDisplayPolygon

◆ mElevation

◆ mFaces

◆ mInvalidColor

◆ mPolygonColor

◆ mPolygonGeode

◆ mPolygonGeom

◆ mSkeleton

◆ mTreeIndex

◆ mValidColor

◆ mVertices

◆ mViewer