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

Interface to the visualization of vectors.

Constructors, destructors, conversion operators

~IVectorsVisualization() pure virtual
Denstructor.

Public functions

auto addVector(const Position& origin, const Direction& direction, double modulus) -> size_t pure virtual
Add a vector in the visualization.
auto addVector(const Position& origin, const Vector3& components) -> size_t pure virtual
Add a vector in the visualization.
auto getNrOfVectors() const -> size_t pure virtual
Get the number of visualized vectors.
auto getVector(size_t vectorIndex, Position& currentOrigin, Direction& currentDirection, double& currentModulus) const -> bool pure virtual
Get vector properties.
auto getVector(size_t vectorIndex, Position& currentOrigin, Vector3& components) const -> bool pure virtual
Get vector properties.
auto updateVector(size_t vectorIndex, const Position& origin, const Direction& direction, double modulus) -> bool pure virtual
Update Vector.
auto updateVector(size_t vectorIndex, const Position& origin, const Vector3& components) -> bool pure virtual
Update Vector.
auto setVectorColor(size_t vectorIndex, const ColorViz& vectorColor) -> bool pure virtual
Set vector color.
void setVectorsDefaultColor(const ColorViz& vectorColor) pure virtual
Set the default color for the vector.
void setVectorsColor(const ColorViz& vectorColor) pure virtual
Set the color for all the existing vectors.
auto setVectorsAspect(double zeroModulusRadius, double modulusMultiplier, double heightScale) -> bool pure virtual
Determines the dimension of the visualized arrows.
auto setVisible(size_t vectorIndex, bool visible = true) -> bool pure virtual
Set the visibility of a given vector.
auto getVectorLabel(size_t vectorIndex) -> ILabel* pure virtual
Get the label associated to a vector.

Function documentation

size_t iDynTree::IVectorsVisualization::addVector(const Position& origin, const Direction& direction, double modulus) pure virtual

Add a vector in the visualization.

Returns The vector index.

size_t iDynTree::IVectorsVisualization::addVector(const Position& origin, const Vector3& components) pure virtual

Add a vector in the visualization.

Returns The vector index.

bool iDynTree::IVectorsVisualization::setVectorsAspect(double zeroModulusRadius, double modulusMultiplier, double heightScale) pure virtual

Determines the dimension of the visualized arrows.

Parameters
zeroModulusRadius Constant offset for the arrow radius.
modulusMultiplier Multiplies the modulus and adds up to the zeroModulusRadius to get the total arrow radius.
heightScale
Returns true if successfull, false in case of negative numbers.

bool iDynTree::IVectorsVisualization::setVisible(size_t vectorIndex, bool visible = true) pure virtual

Set the visibility of a given vector.

Parameters
vectorIndex
visible The visibility of the vector
Returns true if successfull, false if the index is out of bounds

ILabel* iDynTree::IVectorsVisualization::getVectorLabel(size_t vectorIndex) pure virtual

Get the label associated to a vector.

Parameters
vectorIndex The index of the vector to get the label
Returns The label associated to the vector. nullptr if the vectorIndex is out of bounds.