1 #ifndef AUBO_CAPS_INTERFACE_RENDER_INTERFACE_H 2 #define AUBO_CAPS_INTERFACE_RENDER_INTERFACE_H 10 namespace aubo_scope {
29 ToolPosition = 0x0200,
46 void setRenderEmbeded(
bool is_embeded, QGridLayout *gly);
54 void setShowOptions(uint16_t options);
64 void addPointCloud(
const std::string &name,
65 const std::vector<std::vector<double>> &points,
66 const std::vector<double> &color);
74 void removePointCloud(
const std::string &name);
83 bool hasPointCloud(
const std::string &name);
91 void clearPointCloud();
101 bool addWaypoint(
void *wp,
const std::vector<double> &pose);
109 void removeWaypoint(
void *wp);
118 bool hasWaypoint(
void *wp);
126 void clearWaypoints();
135 void setMoveTrack(
void *wp,
const std::vector<std::vector<double>> &track);
136 void setBlendTrack(
void *wp,
const std::vector<std::vector<double>> &track);
145 void addCoordinate(
const std::string &name,
146 const std::vector<double> &pose);
154 void removeCoordinate(
const std::string &name);
163 bool hasCoordinate(
const std::string &name);
173 void addLine(
const std::string &name,
174 const std::vector<std::vector<double>> &points,
175 const std::vector<double> &color);
183 void removeLine(
const std::string &name);
202 void addPlane(
const std::string &name,
const std::vector<double> &pose,
203 const std::vector<double> &size,
204 const std::vector<double> &color);
212 void removePlane(
const std::string &name);
232 void addCube(
const std::string &name,
const std::vector<double> &pose,
233 const std::vector<double> &size,
234 const std::vector<double> &color,
int type = 0);
251 void addCube(
const std::string &name,
const std::vector<double> &pose,
252 float length_min,
float length_max,
float width_min,
253 float width_max,
float height_min,
float height_max,
254 const std::vector<double> &color,
int type = 0);
262 void removeCube(
const std::string &name);
273 friend class DataSwitch;
281 #endif // AUBO_CAPS_INTERFACE_RENDER_INTERFACE_H ARCS_CLASS_FORWARD(GripForceCapability)