The scene descriptor describe any visualization related details of a workcell. This is typically models, visual state, highlighted state and lighting details. All information is related to frames and objects. More...

#include <SceneDescriptor.hpp>

Classes
struct	DrawableProxy
	a proxy class to represent some type of loadable and drawable entity More...

struct	VisualState
	struct for keeping track of the visual state of each frame More...

Public Types
typedef rw::core::Ptr< SceneDescriptor >	Ptr
	smart pointer to this class

Public Member Functions
	SceneDescriptor ()
	constructor

virtual	~SceneDescriptor ()
	destructor

void	setVisible (bool visible, rw::core::Ptr< rw::kinematics::Frame > f)
	sets the visibility of a frame and its drawables. More...

bool	isVisible (rw::core::Ptr< rw::kinematics::Frame > f)
	test if a frame is visible or not More...

void	setHighlighted (bool highlighted, rw::core::Ptr< rw::kinematics::Frame > f)
	sets a frame to be highlighted or not. More...

bool	isHighlighted (rw::core::Ptr< rw::kinematics::Frame > f)
	test if a frame is highlighted or not More...

void	setFrameAxisVisible (bool visible, rw::core::Ptr< rw::kinematics::Frame > f)
	enables the drawing of the frame-axis of a frame. More...

bool	isFrameAxisVisible (rw::core::Ptr< rw::kinematics::Frame > f)
	test if frame-axis is visible More...

void	setDrawType (DrawableNode::DrawType type, rw::core::Ptr< rw::kinematics::Frame > f)
	set how drawables of a specific frame should be rendered More...

DrawableNode::DrawType	getDrawType (rw::core::Ptr< rw::kinematics::Frame > f)
	get how drawables of a specific frame is to be rendered More...

void	setDrawMask (unsigned int mask, rw::core::Ptr< rw::kinematics::Frame > f)
	set the draw mask of the drawables of a specific frame More...

unsigned int	getDrawMask (rw::core::Ptr< rw::kinematics::Frame > f)
	get the draw mask of the drawables of a specific frame More...

void	setTransparency (double alpha, rw::core::Ptr< rw::kinematics::Frame > f)
	set drawables of a frame to be translusent More...

DrawableProxy::Ptr	addGeometry (const std::string &name, rw::core::Ptr< class rw::geometry::Geometry > geom, rw::core::Ptr< rw::kinematics::Frame > frame, int dmask=DrawableNode::Physical)
	create and add a drawable geometry node of any type of geometry to the scene More...

DrawableProxy::Ptr	addFrameAxis (const std::string &name, double size, rw::core::Ptr< rw::kinematics::Frame > frame, int dmask=DrawableNode::Virtual)
	create and add a drawable node of a frame axis to the scene More...

DrawableProxy::Ptr	addModel3D (const std::string &name, Model3D::Ptr model, rw::core::Ptr< rw::kinematics::Frame > frame, int dmask=DrawableNode::Physical)
	create and add a drawable node of a model3d to the scene More...

DrawableProxy::Ptr	addImage (const std::string &name, rw::sensor::Image::Ptr img, rw::core::Ptr< rw::kinematics::Frame > frame, int dmask=DrawableNode::Virtual)
	create and add a drawable node of an image to the scene More...

DrawableProxy::Ptr	addScan (const std::string &name, rw::geometry::PointCloud::Ptr scan, rw::core::Ptr< rw::kinematics::Frame > frame, int dmask=DrawableNode::Virtual)
	create and add a drawable node of a scan to the scene More...

DrawableProxy::Ptr	addRender (const std::string &name, rw::graphics::Render::Ptr render, rw::core::Ptr< rw::kinematics::Frame > frame, int dmask=DrawableNode::Physical)
	create and add a drawable node of a render, to the scene More...

DrawableProxy::Ptr	addDrawable (const std::string &filename, rw::core::Ptr< rw::kinematics::Frame > frame, int dmask=DrawableNode::Physical)
	create and add a drawable node from a filename to the scene More...

DrawableProxy::Ptr	addDrawable (DrawableNode::Ptr drawable, rw::core::Ptr< rw::kinematics::Frame > frame)
	add a drawable node to the scene More...

std::vector< DrawableProxy::Ptr >	getDrawables (rw::core::Ptr< rw::kinematics::Frame > f)
	get all drawables of a specific frame in the WorkCellScene More...

rw::kinematics::Frame *	getFrame (DrawableProxy::Ptr d)
	get the frame that a specific drawable d is associated to More...

std::map< rw::kinematics::Frame *, VisualState > &	getStateMap ()
	Get the visual state of all frames. More...

Detailed Description

The scene descriptor describe any visualization related details of a workcell. This is typically models, visual state, highlighted state and lighting details. All information is related to frames and objects.

Member Function Documentation

◆ addDrawable() [1/2]

DrawableProxy::Ptr addDrawable	(	const std::string &	filename,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		int	dmask = `DrawableNode::Physical`
	)

create and add a drawable node from a filename to the scene

Parameters

filename	[in] name of drawable node
frame	[in] the frame where the drawable is to be placed
dmask	[in] the drawable mask

Returns: the drawable node

◆ addDrawable() [2/2]

DrawableProxy::Ptr addDrawable	(	DrawableNode::Ptr	drawable,
		rw::core::Ptr< rw::kinematics::Frame >	frame
	)

add a drawable node to the scene

Parameters

drawable	[in] the drawable
frame	[in] the frame where the drawable is to be placed

◆ addFrameAxis()

DrawableProxy::Ptr addFrameAxis	(	const std::string &	name,
		double	size,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		int	dmask = `DrawableNode::Virtual`
	)

create and add a drawable node of a frame axis to the scene

Parameters

name	[in] name of drawable node
size	[in] the length of the axis arrows in meters
frame	[in] the frame where the drawable is to be placed
dmask	[in] the drawable mask

Returns: the drawable node geometry

◆ addGeometry()

DrawableProxy::Ptr addGeometry	(	const std::string &	name,
		rw::core::Ptr< class rw::geometry::Geometry >	geom,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		int	dmask = `DrawableNode::Physical`
	)

create and add a drawable geometry node of any type of geometry to the scene

Parameters

name	[in] name of drawable node
geom	[in] the geometry
frame	[in] the frame where the drawable is to be placed
dmask	[in] the drawable mask

Returns: the drawable node geometry

◆ addImage()

DrawableProxy::Ptr addImage	(	const std::string &	name,
		rw::sensor::Image::Ptr	img,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		int	dmask = `DrawableNode::Virtual`
	)

create and add a drawable node of an image to the scene

Parameters

name	[in] name of drawable node
img	[in] the image
frame	[in] the frame where the drawable is to be placed
dmask	[in] the drawable mask

Returns: the drawable node geometry

Note: the size of the image in the scene will be pixel/cm. To change this please use scale.

◆ addModel3D()

DrawableProxy::Ptr addModel3D	(	const std::string &	name,
		Model3D::Ptr	model,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		int	dmask = `DrawableNode::Physical`
	)

create and add a drawable node of a model3d to the scene

Parameters

name	[in] name of drawable node
model	[in] the model3d
frame	[in] the frame where the drawable is to be placed
dmask	[in] the drawable mask

Returns: the drawable node geometry

◆ addRender()

DrawableProxy::Ptr addRender	(	const std::string &	name,
		rw::graphics::Render::Ptr	render,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		int	dmask = `DrawableNode::Physical`
	)

create and add a drawable node of a render, to the scene

Parameters

name	[in] name of drawable node
render	[in] the render
frame	[in] the frame where the drawable is to be placed
dmask	[in] the drawable mask

Returns: the drawable node

◆ addScan()

DrawableProxy::Ptr addScan	(	const std::string &	name,
		rw::geometry::PointCloud::Ptr	scan,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		int	dmask = `DrawableNode::Virtual`
	)

create and add a drawable node of a scan to the scene

Parameters

name	[in] name of drawable node
scan	[in] the scan
frame	[in] the frame where the drawable is to be placed
dmask	[in] the drawable mask

Returns: the drawable node

◆ getDrawables()

std::vector<DrawableProxy::Ptr> getDrawables ( rw::core::Ptr< rw::kinematics::Frame > f )

get all drawables of a specific frame in the WorkCellScene

Parameters

f	[in] the frame

Returns: a vector of drawable proxies

◆ getDrawMask()

unsigned int getDrawMask ( rw::core::Ptr< rw::kinematics::Frame > f )

get the draw mask of the drawables of a specific frame

Parameters

f	[in] the frame

Returns: the drawmask

◆ getDrawType()

DrawableNode::DrawType getDrawType ( rw::core::Ptr< rw::kinematics::Frame > f )

get how drawables of a specific frame is to be rendered

Parameters

f	[in] the Frame

Returns: the drawtype

◆ getFrame()

rw::kinematics::Frame* getFrame ( DrawableProxy::Ptr d )

get the frame that a specific drawable d is associated to

Parameters

d	[in] the drawable

Returns: the first frame that the drawable is associated to, or NULL if there are no associations

◆ getStateMap()

std::map<rw::kinematics::Frame*, VisualState>& getStateMap ( )

inline

Get the visual state of all frames.

Returns: a map from Frame to visual state.

◆ isFrameAxisVisible()

bool isFrameAxisVisible ( rw::core::Ptr< rw::kinematics::Frame > f )

test if frame-axis is visible

Parameters

f	[in] the frame

Returns: true if frame axis of frame is set to be drawn, false otherwise

◆ isHighlighted()

bool isHighlighted ( rw::core::Ptr< rw::kinematics::Frame > f )

test if a frame is highlighted or not

Parameters

f	[in] the frame

Returns: true if frame is highlighted, false if not

◆ isVisible()

bool isVisible ( rw::core::Ptr< rw::kinematics::Frame > f )

test if a frame is visible or not

Parameters

f	[in] the frame

Returns: true if frame is visible, false if not

◆ setDrawMask()

void setDrawMask	(	unsigned int	mask,
		rw::core::Ptr< rw::kinematics::Frame >	f
	)

set the draw mask of the drawables of a specific frame

Parameters

mask	[in] draw mask
f	[in] the frame

◆ setDrawType()

void setDrawType	(	DrawableNode::DrawType	type,
		rw::core::Ptr< rw::kinematics::Frame >	f
	)

set how drawables of a specific frame should be rendered

Parameters

type	[in] the drawtype
f	[in] the Frame

◆ setFrameAxisVisible()

void setFrameAxisVisible	(	bool	visible,
		rw::core::Ptr< rw::kinematics::Frame >	f
	)

enables the drawing of the frame-axis of a frame.

Parameters

visible	[in] true if frame axis should be drawn, false otherwise
f	[in] the frame

◆ setHighlighted()

void setHighlighted	(	bool	highlighted,
		rw::core::Ptr< rw::kinematics::Frame >	f
	)

sets a frame to be highlighted or not.

Parameters

f	[in] the frame.
highlighted	[in] true if frame should be highlighted, false otherwise

◆ setTransparency()

void setTransparency	(	double	alpha,
		rw::core::Ptr< rw::kinematics::Frame >	f
	)

set drawables of a frame to be translusent

Parameters

alpha	[in] range [0-1] where 1 is fully opaque and 0 is folly transparent
f	[in] frame

◆ setVisible()

void setVisible	(	bool	visible,
		rw::core::Ptr< rw::kinematics::Frame >	f
	)

sets the visibility of a frame and its drawables.

Parameters

f	[in] the frame.
visible	[in] true if frame should be visible, false otherwise

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

SceneDescriptor.hpp

Classes

Public Types

Public Member Functions

Detailed Description

Member Function Documentation

◆ addDrawable() [1/2]

◆ addDrawable() [2/2]

◆ addFrameAxis()

◆ addGeometry()

◆ addImage()

◆ addModel3D()

◆ addRender()

◆ addScan()

◆ getDrawables()

◆ getDrawMask()

◆ getDrawType()

◆ getFrame()

◆ getStateMap()

◆ isFrameAxisVisible()

◆ isHighlighted()

◆ isVisible()

◆ setDrawMask()

◆ setDrawType()

◆ setFrameAxisVisible()

◆ setHighlighted()

◆ setTransparency()

◆ setVisible()