Robotics Library  0.7.0
Viewer.h
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2 // Copyright (c) 2009, Markus Rickert
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26 
27 #ifndef RL_PLAN_VIEWER_H
28 #define RL_PLAN_VIEWER_H
29 
30 #include <rl/math/Transform.h>
31 #include <rl/math/Vector.h>
32 
33 #include "VectorList.h"
34 
35 namespace rl
36 {
37  namespace plan
38  {
39  class Viewer
40  {
41  public:
42  Viewer();
43 
44  virtual ~Viewer();
45 
47 
48  virtual void drawConfigurationEdge(const ::rl::math::Vector& q0, const ::rl::math::Vector& q1, const bool& free = true) = 0;
49 
50  virtual void drawConfigurationPath(const VectorList& path) = 0;
51 
52  virtual void drawConfigurationVertex(const ::rl::math::Vector& q, const bool& free = true) = 0;
53 
55 
56  virtual void drawPoint(const ::rl::math::Vector& xyz) = 0;
57 
58  virtual void drawSphere(const ::rl::math::Vector& center, const ::rl::math::Real& radius) = 0;
59 
60  virtual void drawWork(const ::rl::math::Transform& t) = 0;
61 
63 
64  virtual void drawWorkPath(const VectorList& path) = 0;
65 
67 
68  virtual void reset() = 0;
69 
70  virtual void resetEdges() = 0;
71 
72  virtual void resetLines() = 0;
73 
74  virtual void resetPoints() = 0;
75 
76  virtual void resetSpheres() = 0;
77 
78  virtual void resetVertices() = 0;
79 
80  virtual void showMessage(const ::std::string& message) = 0;
81 
82  protected:
83 
84  private:
85 
86  };
87  }
88 }
89 
90 #endif // VIEWER_H
rl::plan::Viewer::drawPoint
virtual void drawPoint(const ::rl::math::Vector &xyz)=0
rl::plan::Viewer::showMessage
virtual void showMessage(const ::std::string &message)=0
VectorList.h
rl::plan::Viewer::reset
virtual void reset()=0
rl::math::Transform
::Eigen::Transform< Real, 3, ::Eigen::Affine > Transform
Rigid transformation in 3D.
Definition: Transform.h:46
rl::plan::Viewer::drawSphere
virtual void drawSphere(const ::rl::math::Vector &center, const ::rl::math::Real &radius)=0
rl::plan::Viewer::drawWorkEdge
virtual void drawWorkEdge(const ::rl::math::Vector &q0, const ::rl::math::Vector &q1)=0
rl::plan::Viewer::~Viewer
virtual ~Viewer()
Definition: Viewer.cpp:37
rl::plan::VectorList
::std::list< ::rl::math::Vector > VectorList
Definition: VectorList.h:37
rl::plan::Viewer::resetPoints
virtual void resetPoints()=0
rl::plan::Viewer::drawConfiguration
virtual void drawConfiguration(const ::rl::math::Vector &q)=0
rl::math::Vector
::Eigen::Matrix< Real, ::Eigen::Dynamic, 1 > Vector
Definition: Vector.h:42
rl::plan::Viewer::drawConfigurationPath
virtual void drawConfigurationPath(const VectorList &path)=0
Vector.h
rl::plan::Viewer::drawConfigurationVertex
virtual void drawConfigurationVertex(const ::rl::math::Vector &q, const bool &free=true)=0
rl::plan::Viewer::drawLine
virtual void drawLine(const ::rl::math::Vector &xyz0, const ::rl::math::Vector &xyz1)=0
rl::plan::Viewer::drawWorkPath
virtual void drawWorkPath(const VectorList &path)=0
rl::plan::Viewer::resetLines
virtual void resetLines()=0
rl::plan::Viewer::drawWorkVertex
virtual void drawWorkVertex(const ::rl::math::Vector &q)=0
rl::plan::Viewer::Viewer
Viewer()
Definition: Viewer.cpp:33
Transform.h
rl::plan::Viewer::resetSpheres
virtual void resetSpheres()=0
rl::math::Real
double Real
Definition: Real.h:42
rl::plan::Viewer::resetVertices
virtual void resetVertices()=0
rl::plan::Viewer::resetEdges
virtual void resetEdges()=0
rl::plan::Viewer::drawWork
virtual void drawWork(const ::rl::math::Transform &t)=0
rl::plan::Viewer
Definition: Viewer.h:40
rl::plan::Viewer::drawConfigurationEdge
virtual void drawConfigurationEdge(const ::rl::math::Vector &q0, const ::rl::math::Vector &q1, const bool &free=true)=0
rl
Robotics Library.
Definition: AnalogInput.cpp:30