IModelVisualization class
#include <iDynTree/Visualizer.h>
Interface to the visualization of a model istance.
Constructors, destructors, conversion operators
- ~IModelVisualization() pure virtual
- Denstructor.
Public functions
- auto setPositions(const Transform& world_H_base, const VectorDynSize& jointPos) -> bool pure virtual
- Set the position of the model (using base position and joint positions)
- auto setLinkPositions(const LinkPositions& linkPos) -> bool pure virtual
- Set the positions of the model by directly specifing link positions wrt to the world.
- auto model() -> Model& pure virtual
- Reference to the used model.
- auto getInstanceName() -> std::string pure virtual
- Get the instance name.
- void setModelVisibility(const bool isVisible) pure virtual
- Set the visibility of all the link of the model.
- void setModelColor(const ColorViz& modelColor) pure virtual
- Set the color of all the geometries of the model.
- void resetModelColor() pure virtual
- Reset the colors of the model.
- auto setLinkColor(const LinkIndex& linkIndex, const ColorViz& linkColor) -> bool pure virtual
- Set the color of all the geometries of the given link.
- auto setLinkTransparency(const LinkIndex& linkIndex, const double transparency) -> bool pure virtual
- Set the transparency of a given link of the model.
- void setModelTransparency(const double transparency) pure virtual
- Set the transparency of all the links of the model.
- auto resetLinkColor(const LinkIndex& linkIndex) -> bool pure virtual
- Reset the colors of given link.
- auto getLinkNames() -> std::vector<std::string> pure virtual
- Get the name of the link in the model.
- auto setLinkVisibility(const std::string& linkName, bool isVisible) -> bool pure virtual
- Set a given link visibility.
- auto getFeatures() -> std::vector<std::string> pure virtual
- Get list of visualization features that can be enabled/disabled.
- auto setFeatureVisibility(const std::string& elementKey, bool isVisible) -> bool pure virtual
- auto jets() -> IJetsVisualization& pure virtual
- Get a reference to the internal IJetsVisualization interface.
- auto getWorldLinkTransform(const LinkIndex& linkIndex) -> Transform pure virtual
- Get the transformation of given link with respect to visualizer world .
- auto getWorldLinkTransform(const std::string& linkName) -> Transform pure virtual
- Get the transformation of given link with respect to visualizer world .
- auto getWorldFrameTransform(const FrameIndex& frameIndex) -> Transform pure virtual
- Get the transformation of given frame with respect to visualizer world .
- auto getWorldFrameTransform(const std::string& frameName) -> Transform pure virtual
- Get the transformation of given frame with respect to visualizer world .
- auto label() -> ILabel& pure virtual
- Get the label for the model.
Function documentation
void iDynTree::
Set the color of all the geometries of the model.
This will overwrite the material of the model, but it can be reset by resetModelColor.
bool iDynTree::
Set the color of all the geometries of the given link.
This will overwrite the material of the link, but it can be reset by resetLinkColor.
bool iDynTree::
Set the transparency of a given link of the model.
This will overwrite the material of the link, but it can be reset by resetLinkColor.
void iDynTree::
Set the transparency of all the links of the model.
This will overwrite the material of the links, but they can be reset by resetLinkColor.
std::vector<std::string> iDynTree::
Get list of visualization features that can be enabled/disabled.
This method will return the follow list:
| Visualization feature | Description | Default value |
|---|---|---|
| wireframe | Visualize mesh of the model as wireframe | false |
bool iDynTree::
| Returns | true if the visibility is correctly setted, false otherwise. |
|---|