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AuboCaps
0.6.2
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#include <render_interface.h>
Public Types | |
| enum | ShowOptions : uint16_t { None = 0, Ground = 0x01, TargetRobot = 0x02, RealRobot = 0x04, Coordinate = 0x08, Track = 0x10, Point = 0x20, View = 0x40, Obstacle = 0x80, SafetyPlane = 0x0100, ToolPosition = 0x0200, PointCloud = 0x0400, All = 0xFFFF } |
Public Member Functions | |
| RenderInterface (RenderInterface &f) | |
| RenderInterface (RenderInterface &&f) | |
| virtual | ~RenderInterface () |
| void | setRenderEmbeded (bool is_embeded, QGridLayout *gly) |
| 设置 Render 窗口嵌入/移除(isEmbeded) 布局 gly 中 More... | |
| void | setShowOptions (uint16_t options) |
| 设置显示模式,控制各种元素的显隐 More... | |
| void | addPointCloud (const std::string &name, const std::vector< std::vector< double >> &points, const std::vector< double > &color) |
| 添加/修改点云 More... | |
| void | removePointCloud (const std::string &name) |
| 移除指定名称的点云 More... | |
| bool | hasPointCloud (const std::string &name) |
| 查找制定名称的点云是否存在 More... | |
| void | clearPointCloud () |
| 移除所有的点云 More... | |
| bool | addWaypoint (void *wp, const std::vector< double > &pose) |
| 添加/修改路点 More... | |
| void | removeWaypoint (void *wp) |
| 移除指定路点 More... | |
| bool | hasWaypoint (void *wp) |
| 查找指定路点是否存在 More... | |
| void | clearWaypoints () |
| 移除所有的路点 More... | |
| void | setMoveTrack (void *wp, const std::vector< std::vector< double >> &track) |
| 添加/修改指定路点的交融轨迹 More... | |
| void | setBlendTrack (void *wp, const std::vector< std::vector< double >> &track) |
| void | addCoordinate (const std::string &name, const std::vector< double > &pose) |
| 添加/修改坐标轴 More... | |
| void | removeCoordinate (const std::string &name) |
| 移除指定坐标轴 More... | |
| bool | hasCoordinate (const std::string &name) |
| 查找指定坐标轴是否存在 More... | |
| void | addLine (const std::string &name, const std::vector< std::vector< double >> &points, const std::vector< double > &color) |
| 添加/修改线 More... | |
| void | removeLine (const std::string &name) |
| 移除指定线 More... | |
| void | clearLines () |
| 移除所有的线 More... | |
| void | addPlane (const std::string &name, const std::vector< double > &pose, const std::vector< double > &size, const std::vector< double > &color) |
| 添加/修改平面 More... | |
| void | removePlane (const std::string &name) |
| 移除指定平面 More... | |
| void | clearPlanes () |
| 移除所有的平面 More... | |
| void | addCube (const std::string &name, const std::vector< double > &pose, const std::vector< double > &size, const std::vector< double > &color, int type=0) |
| 添加/修改立方体 More... | |
| void | addCube (const std::string &name, const std::vector< double > &pose, float length_min, float length_max, float width_min, float width_max, float height_min, float height_max, const std::vector< double > &color, int type=0) |
| 添加/修改立方体 More... | |
| void | removeCube (const std::string &name) |
| 移除指定立方体 More... | |
| void | clearCubes () |
| 移除所有的立方体 More... | |
| int | addMesh (const std::string &name, int link_num, const std::string &model_path, const std::vector< double > &pose) |
| addMesh 添加任意模型文件 More... | |
| std::vector< std::string > | getMeshes (int link_num) |
| getMeshes 获取关节 link_num 的外设模型名字 More... | |
| int | removeMesh (const std::string &name) |
| int | clearMeshes (int link_num) |
Private Member Functions | |
| RenderInterface () | |
Private Attributes | |
| void * | d_ { nullptr } |
Friends | |
| class | DataSwitch |
Definition at line 14 of file render_interface.h.
| enum arcs::aubo_scope::RenderInterface::ShowOptions : uint16_t |
| Enumerator | |
|---|---|
| None | |
| Ground | |
| TargetRobot | |
| RealRobot | |
| Coordinate | |
| Track | |
| Point | |
| View | |
| Obstacle | |
| SafetyPlane | |
| ToolPosition | |
| PointCloud | |
| All | |
Definition at line 17 of file render_interface.h.
| arcs::aubo_scope::RenderInterface::RenderInterface | ( | RenderInterface & | f | ) |
| arcs::aubo_scope::RenderInterface::RenderInterface | ( | RenderInterface && | f | ) |
|
virtual |
|
private |
| void arcs::aubo_scope::RenderInterface::addCoordinate | ( | const std::string & | name, |
| const std::vector< double > & | pose | ||
| ) |
添加/修改坐标轴
| name | 坐标轴名称 |
| pose | 位姿 x,y,z,rx,ry,rz |
| 无 |
| void arcs::aubo_scope::RenderInterface::addCube | ( | const std::string & | name, |
| const std::vector< double > & | pose, | ||
| const std::vector< double > & | size, | ||
| const std::vector< double > & | color, | ||
| int | type = 0 |
||
| ) |
添加/修改立方体
| name | 立方体名称 |
| pose | 位置 |
| size | 立方体大小(长,宽,高) |
| color | 立方体颜色 rgba |
| type | 立方体绘制类型 0 代表画 6 个平面,1 代表只画边框线 |
| 无 |
| void arcs::aubo_scope::RenderInterface::addCube | ( | const std::string & | name, |
| const std::vector< double > & | pose, | ||
| float | length_min, | ||
| float | length_max, | ||
| float | width_min, | ||
| float | width_max, | ||
| float | height_min, | ||
| float | height_max, | ||
| const std::vector< double > & | color, | ||
| int | type = 0 |
||
| ) |
添加/修改立方体
| name | 立方体名称 |
| pose | 位置 |
| length_min | |
| length_max | |
| width_min | |
| width_max | |
| height_min | |
| height_max | |
| color | 立方体颜色 rgba |
| type | 立方体绘制类型 0 代表画 6 个平面,1 代表只画边框线 |
| 无 |
| void arcs::aubo_scope::RenderInterface::addLine | ( | const std::string & | name, |
| const std::vector< std::vector< double >> & | points, | ||
| const std::vector< double > & | color | ||
| ) |
添加/修改线
| name | 线名称 |
| points | 点集合 |
| color | 线颜色 rgba |
| 无 |
| int arcs::aubo_scope::RenderInterface::addMesh | ( | const std::string & | name, |
| int | link_num, | ||
| const std::string & | model_path, | ||
| const std::vector< double > & | pose | ||
| ) |
addMesh 添加任意模型文件
| name | 唯一标识 |
| link_num | 0: 底座; 1~6: 关节; |
| model_path | 3ds 文件绝对路径 |
| pose | 模型文件安装位置 {x, y, z, rx, ry, rz} |
| void arcs::aubo_scope::RenderInterface::addPlane | ( | const std::string & | name, |
| const std::vector< double > & | pose, | ||
| const std::vector< double > & | size, | ||
| const std::vector< double > & | color | ||
| ) |
添加/修改平面
| name | 平面名称 |
| pose | 位置 |
| size | 平面大小(长,宽) |
| color | 线颜色 rgba |
| 无 |
| void arcs::aubo_scope::RenderInterface::addPointCloud | ( | const std::string & | name, |
| const std::vector< std::vector< double >> & | points, | ||
| const std::vector< double > & | color | ||
| ) |
添加/修改点云
| name | 点云名称 |
| points | 点集合 |
| color | 点云颜色 rgba |
| bool arcs::aubo_scope::RenderInterface::addWaypoint | ( | void * | wp, |
| const std::vector< double > & | pose | ||
| ) |
添加/修改路点
| wp | 代表路点的唯一对象 |
| pose | 路点位姿 x,y,z,rx,ry,rz |
| true | 成功 |
| false | 失败 |
| void arcs::aubo_scope::RenderInterface::clearCubes | ( | ) |
移除所有的立方体
| 无 |
| 无 |
| void arcs::aubo_scope::RenderInterface::clearLines | ( | ) |
移除所有的线
| 无 |
| 无 |
| int arcs::aubo_scope::RenderInterface::clearMeshes | ( | int | link_num | ) |
| void arcs::aubo_scope::RenderInterface::clearPlanes | ( | ) |
移除所有的平面
| 无 |
| 无 |
| void arcs::aubo_scope::RenderInterface::clearPointCloud | ( | ) |
移除所有的点云
| 无 |
| 无 |
| void arcs::aubo_scope::RenderInterface::clearWaypoints | ( | ) |
移除所有的路点
| 无 |
| 无 |
| std::vector<std::string> arcs::aubo_scope::RenderInterface::getMeshes | ( | int | link_num | ) |
getMeshes 获取关节 link_num 的外设模型名字
| link_num | 0: 底座; 1~6: 关节; |
| bool arcs::aubo_scope::RenderInterface::hasCoordinate | ( | const std::string & | name | ) |
查找指定坐标轴是否存在
| name | 坐标轴名称 |
| true | 存在 |
| false | 不存在 |
| bool arcs::aubo_scope::RenderInterface::hasPointCloud | ( | const std::string & | name | ) |
查找制定名称的点云是否存在
| name | 点云名称 |
| true | 存在 |
| false | 不存在 |
| bool arcs::aubo_scope::RenderInterface::hasWaypoint | ( | void * | wp | ) |
查找指定路点是否存在
| wp | 代表路点的唯一对象 |
| true | 存在 |
| false | 不存在 |
| void arcs::aubo_scope::RenderInterface::removeCoordinate | ( | const std::string & | name | ) |
移除指定坐标轴
| name | 坐标轴名称 |
| 无 |
| void arcs::aubo_scope::RenderInterface::removeCube | ( | const std::string & | name | ) |
移除指定立方体
| name | 立方体名称 |
| 无 |
| void arcs::aubo_scope::RenderInterface::removeLine | ( | const std::string & | name | ) |
移除指定线
| name | 线名称 |
| 无 |
| int arcs::aubo_scope::RenderInterface::removeMesh | ( | const std::string & | name | ) |
| void arcs::aubo_scope::RenderInterface::removePlane | ( | const std::string & | name | ) |
移除指定平面
| name | 名称 |
| 无 |
| void arcs::aubo_scope::RenderInterface::removePointCloud | ( | const std::string & | name | ) |
移除指定名称的点云
| name | 点云名称 |
| void arcs::aubo_scope::RenderInterface::removeWaypoint | ( | void * | wp | ) |
移除指定路点
| wp | 代表路点的唯一对象 |
| 无 |
| void arcs::aubo_scope::RenderInterface::setBlendTrack | ( | void * | wp, |
| const std::vector< std::vector< double >> & | track | ||
| ) |
| void arcs::aubo_scope::RenderInterface::setMoveTrack | ( | void * | wp, |
| const std::vector< std::vector< double >> & | track | ||
| ) |
添加/修改指定路点的交融轨迹
| wp | 代表路点的唯一对象 |
| track | 路点位姿 x,y,z,rx,ry,rz 集合 |
| 无 |
| void arcs::aubo_scope::RenderInterface::setRenderEmbeded | ( | bool | is_embeded, |
| QGridLayout * | gly | ||
| ) |
设置 Render 窗口嵌入/移除(isEmbeded) 布局 gly 中
| is_embeded | 是否嵌入 |
| gly | 布局 |
| void arcs::aubo_scope::RenderInterface::setShowOptions | ( | uint16_t | options | ) |
设置显示模式,控制各种元素的显隐
| options | 选项值,详情查看 ShowOptions 枚举 |
|
friend |
Definition at line 294 of file render_interface.h.
|
private |
Definition at line 296 of file render_interface.h.
1.8.11