arcs::aubo_scope::RenderInterface Class Reference

RenderInterface Provides display option controls related to 3D rendering, including show/hide of ground, robot models, coordinate systems, trajectories and points. More...

#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)
	Set the render window to be embedded/removed in the layout gly.
void	setShowOptions (uint16_t options)
	Set the display mode to control the visibility of various elements.
void	addPointCloud (const std::string &name, const std::vector< std::vector< double > > &points, const std::vector< double > &color)
	Add/modify point cloud.
void	removePointCloud (const std::string &name)
	Remove the point cloud with the specified name.
bool	hasPointCloud (const std::string &name)
	Check whether the point cloud with the specified name exists.
void	clearPointCloud ()
	Remove all point clouds.
bool	addWaypoint (void *wp, const std::vector< double > &pose, const std::vector< double > &color={ 0.0, 1.0, 0.0, 1.0 }, bool axis_visible=false)
	Add/modify waypoint.
void	removeWaypoint (void *wp)
	Remove the specified waypoint.
bool	hasWaypoint (void *wp)
	Check whether the specified waypoint exists.
void	clearWaypoints ()
	Remove all waypoints.
void	setMoveTrack (void *wp, const std::vector< std::vector< double > > &track)
	Add/modify the move track for the specified waypoint.
void	setBlendTrack (void *wp, const std::vector< std::vector< double > > &track)
void	setMoveTrack (void *wp, const std::vector< std::vector< double > > &track, const std::vector< double > &color)
void	setBlendTrack (void *wp, const std::vector< std::vector< double > > &track, const std::vector< double > &color)
void	addCoordinate (const std::string &name, const std::vector< double > &pose)
	Add/modify coordinate axis.
void	removeCoordinate (const std::string &name)
	Remove the specified coordinate axis.
bool	hasCoordinate (const std::string &name)
	Check whether the specified coordinate axis exists.
void	addLine (const std::string &name, const std::vector< std::vector< double > > &points, const std::vector< double > &color)
	Add/modify line.
void	addLine (const std::string &name, int link_num, const std::vector< double > &pose, const std::vector< std::vector< double > > &points, const std::vector< double > &color)
void	removeLine (const std::string &name)
	Remove the specified line.
void	clearLines ()
	Remove all lines.
void	addPlane (const std::string &name, const std::vector< double > &pose, const std::vector< double > &size, const std::vector< double > &color)
	Add/modify plane.
void	addPlane (const std::string &name, int link_num, const std::vector< double > &pose, const std::vector< double > &size, const std::vector< double > &color)
void	removePlane (const std::string &name)
	Remove the specified plane.
void	clearPlanes ()
	Remove all planes.
void	addCube (const std::string &name, const std::vector< double > &pose, const std::vector< double > &size, const std::vector< double > &color, int type=0)
	Add/modify cube.
void	addCube (const std::string &name, int link_num, const std::vector< double > &pose, const std::vector< double > &size, const std::vector< double > &color, int type=0)
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)
	Add/modify cube with size ranges.
void	addCube (const std::string &name, int link_num, 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)
void	removeCube (const std::string &name)
	Remove the specified cube.
void	clearCubes ()
	Remove all cubes.
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
std::vector< std::string >	getMeshes (int link_num)
	getMeshes 获取关节 link_num 的外设模型名字
int	removeMesh (const std::string &name)
	removeMesh
int	clearMeshes (int link_num)
	clearMeshes

Private Member Functions
	RenderInterface ()

Private Attributes
void *	d_ { nullptr }

Friends
class	DataSwitch

Detailed Description

RenderInterface Provides display option controls related to 3D rendering, including show/hide of ground, robot models, coordinate systems, trajectories and points.

Definition at line 28 of file render_interface.h.

Member Enumeration Documentation

ShowOptions

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 31 of file render_interface.h.

Constructor & Destructor Documentation

RenderInterface() [1/3]

arcs::aubo_scope::RenderInterface::RenderInterface

(

RenderInterface &

f

)

References RenderInterface().

Referenced by RenderInterface(), and RenderInterface().

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RenderInterface() [2/3]

arcs::aubo_scope::RenderInterface::RenderInterface

(

RenderInterface &&

f

)

References RenderInterface().

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~RenderInterface()

virtual arcs::aubo_scope::RenderInterface::~RenderInterface ( )

virtual

RenderInterface() [3/3]

arcs::aubo_scope::RenderInterface::RenderInterface ( )

private

Member Function Documentation

addCoordinate()

void arcs::aubo_scope::RenderInterface::addCoordinate	(	const std::string &	name,
		const std::vector< double > &	pose )

Add/modify coordinate axis.

Parameters

name	coordinate name
pose	pose x,y,z,rx,ry,rz

addCube() [1/4]

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 )

Add/modify cube.

Parameters

name	cube name
link_num	-1: TCP; 0: base; 1~6: joints;
pose	position
size	cube size (length, width, height)
color	cube color {r, g, b, a}, range 0.0~1.0
type	cube rendering type: 0 for 6 planes, 1 for wireframe

addCube() [2/4]

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 )

Add/modify cube with size ranges.

Parameters

name	cube name
pose	position
length_min
length_max
width_min
width_max
height_min
height_max
color	cube color {r, g, b, a}, range 0.0~1.0
type	cube rendering type: 0 for 6 planes, 1 for wireframe

addCube() [3/4]

void arcs::aubo_scope::RenderInterface::addCube	(	const std::string &	name,
		int	link_num,
		const std::vector< double > &	pose,
		const std::vector< double > &	size,
		const std::vector< double > &	color,
		int	type = 0 )

addCube

Parameters

name
link_num
pose
size
color
type

addCube() [4/4]

void arcs::aubo_scope::RenderInterface::addCube	(	const std::string &	name,
		int	link_num,
		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 )

addCube

Parameters

name
link_num
pose
length_min
length_max
width_min
width_max
height_min
height_max
color
type

addLine() [1/2]

void arcs::aubo_scope::RenderInterface::addLine	(	const std::string &	name,
		const std::vector< std::vector< double > > &	points,
		const std::vector< double > &	color )

Add/modify line.

Parameters

name	line name
link_num	-1: TCP; 0: base; 1~6: joints;
pose	reference coordinate system for points, default 6 zeros
points	point collection
color	line color {r, g, b, a}, range 0.0~1.0

addLine() [2/2]

void arcs::aubo_scope::RenderInterface::addLine	(	const std::string &	name,
		int	link_num,
		const std::vector< double > &	pose,
		const std::vector< std::vector< double > > &	points,
		const std::vector< double > &	color )

addLine

Parameters

name
link_num
pose
points
color

addMesh()

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

Parameters

name	唯一标识
link_num	-1: TCP; 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}

Returns

0: 成功; 其他失败

addPlane() [1/2]

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 )

Add/modify plane.

Parameters

name	plane name
link_num	-1: TCP; 0: base; 1~6: joints;
pose	position
size	plane size (length, width)
color	color {r, g, b, a}, range 0.0~1.0

addPlane() [2/2]

void arcs::aubo_scope::RenderInterface::addPlane	(	const std::string &	name,
		int	link_num,
		const std::vector< double > &	pose,
		const std::vector< double > &	size,
		const std::vector< double > &	color )

addPlane

Parameters

name
link_num
pose
size
color

addPointCloud()

void arcs::aubo_scope::RenderInterface::addPointCloud	(	const std::string &	name,
		const std::vector< std::vector< double > > &	points,
		const std::vector< double > &	color )

Add/modify point cloud.

Parameters

name	point cloud name
points	point collection
color	point cloud color rgba

addWaypoint()

bool arcs::aubo_scope::RenderInterface::addWaypoint	(	void *	wp,
		const std::vector< double > &	pose,
		const std::vector< double > &	color = { 0.0, 1.0, 0.0, 1.0 },
		bool	axis_visible = false )

Add/modify waypoint.

Parameters

wp	the unique object representing the waypoint
pose	waypoint pose x,y,z,rx,ry,rz
color	waypoint color {r, g, b, a}, range 0.0~1.0
axis_visible	whether to show pose direction arrows on the waypoint

Return values

true	success
false	failure

clearCubes()

void arcs::aubo_scope::RenderInterface::clearCubes

(

)

Remove all cubes.

clearLines()

void arcs::aubo_scope::RenderInterface::clearLines

(

)

Remove all lines.

clearMeshes()

int arcs::aubo_scope::RenderInterface::clearMeshes

(

int

link_num

)

clearMeshes

Parameters

link_num

Returns

clearPlanes()

void arcs::aubo_scope::RenderInterface::clearPlanes

(

)

Remove all planes.

clearPointCloud()

void arcs::aubo_scope::RenderInterface::clearPointCloud

(

)

Remove all point clouds.

clearWaypoints()

void arcs::aubo_scope::RenderInterface::clearWaypoints

(

)

Remove all waypoints.

getMeshes()

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

Parameters

link_num

-1: TCP; 0: 底座; 1~6: 关节;

Returns

名字列表

hasCoordinate()

bool arcs::aubo_scope::RenderInterface::hasCoordinate

(

const std::string &

name

)

Check whether the specified coordinate axis exists.

Parameters

name	coordinate name

Return values

true	exists
false	does not exist

hasPointCloud()

bool arcs::aubo_scope::RenderInterface::hasPointCloud

(

const std::string &

name

)

Check whether the point cloud with the specified name exists.

Parameters

name	point cloud name

Return values

true	exists
false	does not exist

hasWaypoint()

bool arcs::aubo_scope::RenderInterface::hasWaypoint

(

void *

wp

)

Check whether the specified waypoint exists.

Parameters

wp	the unique object representing the waypoint

Return values

true	exists
false	does not exist

removeCoordinate()

void arcs::aubo_scope::RenderInterface::removeCoordinate

(

const std::string &

name

)

Remove the specified coordinate axis.

Parameters

name	coordinate name

removeCube()

void arcs::aubo_scope::RenderInterface::removeCube

(

const std::string &

name

)

Remove the specified cube.

Parameters

name

cube name

removeLine()

void arcs::aubo_scope::RenderInterface::removeLine

(

const std::string &

name

)

Remove the specified line.

Parameters

name

line name

removeMesh()

int arcs::aubo_scope::RenderInterface::removeMesh

(

const std::string &

name

)

removeMesh

Parameters

name

Returns

removePlane()

void arcs::aubo_scope::RenderInterface::removePlane

(

const std::string &

name

)

Remove the specified plane.

Parameters

name	plane name

removePointCloud()

void arcs::aubo_scope::RenderInterface::removePointCloud

(

const std::string &

name

)

Remove the point cloud with the specified name.

Parameters

name	point cloud name

removeWaypoint()

void arcs::aubo_scope::RenderInterface::removeWaypoint

(

void *

wp

)

Remove the specified waypoint.

Parameters

wp	the unique object representing the waypoint

setBlendTrack() [1/2]

void arcs::aubo_scope::RenderInterface::setBlendTrack	(	void *	wp,
		const std::vector< std::vector< double > > &	track )

setBlendTrack

Parameters

wp
track

setBlendTrack() [2/2]

void arcs::aubo_scope::RenderInterface::setBlendTrack	(	void *	wp,
		const std::vector< std::vector< double > > &	track,
		const std::vector< double > &	color )

setBlendTrack

Parameters

wp
track
color

setMoveTrack() [1/2]

void arcs::aubo_scope::RenderInterface::setMoveTrack	(	void *	wp,
		const std::vector< std::vector< double > > &	track )

Add/modify the move track for the specified waypoint.

Parameters

wp	the unique object representing the waypoint
track	waypoint pose collection x,y,z,rx,ry,rz

setMoveTrack() [2/2]

void arcs::aubo_scope::RenderInterface::setMoveTrack	(	void *	wp,
		const std::vector< std::vector< double > > &	track,
		const std::vector< double > &	color )

setMoveTrack

Parameters

wp
track
color

setRenderEmbeded()

void arcs::aubo_scope::RenderInterface::setRenderEmbeded	(	bool	is_embeded,
		QGridLayout *	gly )

Set the render window to be embedded/removed in the layout gly.

Parameters

is_embeded	whether to embed
gly	the layout

setShowOptions()

void arcs::aubo_scope::RenderInterface::setShowOptions

(

uint16_t

options

)

Set the display mode to control the visibility of various elements.

Parameters

options

option value, see ShowOptions enum for details

Friends And Related Symbol Documentation

DataSwitch

friend class DataSwitch

friend

Definition at line 682 of file render_interface.h.

References DataSwitch.

Referenced by DataSwitch.

Member Data Documentation

d_

void* arcs::aubo_scope::RenderInterface::d_ { nullptr }

private

Definition at line 684 of file render_interface.h.

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

• include/aubo_caps/domain/user_interface/render_interface.h