iDynTree::MeshcatVisualizer class
#include <iDynTree/MeshcatVisualizer.h>

MeshcatVisualizer is an iDynTree-based wrapper to the meshcat-cpp visualizer.

Constructors, destructors, conversion operators

MeshcatVisualizer()
~MeshcatVisualizer()

Public functions

auto loadModel(const iDynTree::Model& model, const std::string& modelName) -> bool: Load a given model in the visualizer.
auto setModelState(const iDynTree::Transform& world_T_base, const iDynTree::VectorDynSize& jointPositions, const std::string& modelName) -> bool: Set the state of an already existing model in the visualizer.
auto setModelState(const iDynTree::MatrixView<const double>& world_T_base, const iDynTree::Span<const double>& jointPositions, const std::string& modelName) -> bool: Set the state of an already existing model in the visualizer.
auto loadSphere(const double radius, const iDynTree::Span<const double>& color, const std::string& name) -> bool: Load a sphere mesh in the visualizer.
auto loadCylinder(const double radius, const double height, const iDynTree::Span<const double>& color, const std::string& name) -> bool: Load a cylinder mesh in the visualizer.
auto loadBox(const double width, const double depth, const double height, const iDynTree::Span<const double>& color, const std::string& name) -> bool: Load a box mesh in the visualizer.
auto loadEllipsoid(const double a, const double b, const double c, const iDynTree::Span<const double>& color, const std::string& name) -> bool: Load an ellipsoid mesh in the visualizer.
auto setPrimitiveGeometryTransform(const iDynTree::Transform& world_T_geometry, const std::string& geometryName) -> bool: set the pose of a primitive geometry mesh in the visualizer.
auto setPrimitiveGeometryTransform(const iDynTree::MatrixView<const double>& world_T_geometry, const std::string& geometryName) -> bool: set the pose of a primitive geometry mesh in the visualizer.
void join(): Utility function to make the meshcat interface run forever (until the user stops the application)

Function documentation

bool iDynTree::MeshcatVisualizer::loadModel(const iDynTree::Model& model, const std::string& modelName)

Load a given model in the visualizer.

Parameters
model	the model that should be loaded.
modelName	the name of the model used in the visualizer. Each model you add needs to have an unique name.
Returns	True in case of success false otherwise/

bool iDynTree::MeshcatVisualizer::setModelState(const iDynTree::Transform& world_T_base, const iDynTree::VectorDynSize& jointPositions, const std::string& modelName)

Set the state of an already existing model in the visualizer.

Parameters
world_T_base	pose of the base of the model.
jointPositions	position of the joints.
modelName	the name of the model specified in MeshcatVisualizer::loadModel(),
Returns	True in case of success false otherwise.

bool iDynTree::MeshcatVisualizer::setModelState(const iDynTree::MatrixView<const double>& world_T_base, const iDynTree::Span<const double>& jointPositions, const std::string& modelName)

Set the state of an already existing model in the visualizer.

Parameters
world_T_base	4x4 matrix representing the homogeneous transformation,
jointPositions	position of the joints,
modelName	the name of the model specified in MeshcatVisualizer::loadModel().
Returns	True in case of success false otherwise.

bool iDynTree::MeshcatVisualizer::loadSphere(const double radius, const iDynTree::Span<const double>& color, const std::string& name)

Load a sphere mesh in the visualizer.

Parameters
radius	radius of the sphere.
color	needs to be a vector of 4 double between 0 and 1 representing RGBA.
name	the name of the sphere. Each geometry you add needs to have an unique name.
Returns	True in case of success false otherwise.

bool iDynTree::MeshcatVisualizer::loadCylinder(const double radius, const double height, const iDynTree::Span<const double>& color, const std::string& name)

Load a cylinder mesh in the visualizer.

Parameters
radius	radius of the cylinder.
height	height of the cylinder.
color	needs to be a vector of 4 double between 0 and 1 representing RGBA.
name	the name of the cylinder. Each geometry you add needs to have an unique name.
Returns	True in case of success false otherwise.

bool iDynTree::MeshcatVisualizer::loadBox(const double width, const double depth, const double height, const iDynTree::Span<const double>& color, const std::string& name)

Load a box mesh in the visualizer.

Parameters
width	width of the box.
depth	depth of the box.
height	height of the box.
color	needs to be a vector of 4 double between 0 and 1 representing RGBA.
name	the name of the box. Each geometry you add needs to have an unique name.
Returns	True in case of success false otherwise.

bool iDynTree::MeshcatVisualizer::loadEllipsoid(const double a, const double b, const double c, const iDynTree::Span<const double>& color, const std::string& name)

Load an ellipsoid mesh in the visualizer.

Parameters
a	a-axis of the ellipsoid.
b	b-axis of the ellipsoid.
c	c-axis of the ellipsoid.
color	needs to be a vector of 4 double between 0 and 1 representing RGBA.
name	the name of the ellipsoid. Each geometry you add needs to have an unique name.
Returns	True in case of success false otherwise.

bool iDynTree::MeshcatVisualizer::setPrimitiveGeometryTransform(const iDynTree::Transform& world_T_geometry, const std::string& geometryName)

set the pose of a primitive geometry mesh in the visualizer.

Parameters
world_T_geometry	pose of the geometry.
geometryName	the name of the geometry specified in MeshcatVisualizer::loadSphere() \|\| MeshcatVisualizer::loadCylinder() \|\| MeshcatVisualizer::loadBox() \|\| MeshcatVisualizer::loadEllipsoid().
Returns	True in case of success false otherwise. Implementations available: for iDynTree::Transform, for iDynTree::MatrixView.

bool iDynTree::MeshcatVisualizer::setPrimitiveGeometryTransform(const iDynTree::MatrixView<const double>& world_T_geometry, const std::string& geometryName)