iDynTree::IEnvironment class
#include <iDynTree/Visualizer.h>

Interface to manipulate the elements in the enviroment (background, root frame, reference lines)

Constructors, destructors, conversion operators

auto getElements() -> std::vector<std::string> pure virtual: Get the list of the elements in the enviroment.
auto setElementVisibility(const std::string elementKey, bool isVisible) -> bool pure virtual
void setBackgroundColor(const ColorViz& backgroundColor) pure virtual: Set the background color.
void setFloorGridColor(const ColorViz& floorGridColor) pure virtual: Set the floor grid color.
void setAmbientLight(const ColorViz& ambientLight) pure virtual: Set the ambient light of the enviroment.
auto getLights() -> std::vector<std::string> pure virtual: Get the list of lights present in the visualization.
auto addLight(const std::string& lightName) -> bool pure virtual: Add a light.
auto lightViz(const std::string& lightName) -> ILight& pure virtual: Return an interface to a light.
auto removeLight(const std::string& lightName) -> bool pure virtual: Remove a light from visualization.

Get the list of the elements in the enviroment.

The function returns the following list:

Element name	Description
floor_grid	Grid used to indicated the z = 0 plane.
world_frame	XYZ (RBG) arrows indicating the world frame.

Returns	true if the visibility is correctly setted, false otherwise.

Remove a light from visualization.

Returns	true if the light was present and was removed, false otherwise.