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

Class to visualize a set of iDynTree models.

Constructors, destructors, conversion operators

Visualizer()
~Visualizer() virtual

Public functions

auto init(const VisualizerOptions& visualizerOptions = VisualizerOptions()) -> bool: Initialize the visualization.
auto getNrOfVisualizedModels() -> size_t: Get number of models visualized.
auto getModelInstanceName(size_t modelInstanceIndex) -> std::string
auto getModelInstanceIndex(const std::string instanceName) -> int: Get the index of a given model instance, or -1 if there is not such model instance.
auto addModel(const iDynTree::Model& model, const std::string& instanceName) -> bool: Add an instance of a given model to the visualization.
auto modelViz(size_t modelIdx) -> IModelVisualization&: Return an interface to a visualization of a model.
auto modelViz(const std::string& instanceName) -> IModelVisualization&: Return an interface to a visualization of a model.
auto camera() -> ICamera&: Return an interface to manipulate the camera in the visualization.
auto enviroment() -> IEnvironment&: Return an interface to manipulate the visualization environment.
auto environment() -> IEnvironment&: Return an interface to manipulate the visualization environment.
auto vectors() -> IVectorsVisualization&: Get a reference to the internal IVectorsVisualization interface.
auto frames() -> IFrameVisualization&: Get a reference to the internal IFrameVisualization interface.
auto textures() -> ITexturesHandler&: Get a reference to the internal ITexturesHandler interface.
auto shapes() -> IShapeVisualization&: Get a reference to the internal IShapeVisualization interface.
auto getLabel(const std::string& labelName) -> ILabel&: Get a label given a name.
auto width() const -> int: Get the visualizer width.
auto height() const -> int: Get the visualizer height.
auto run() -> bool: Wrap the run method of the Irrlicht device.
void draw(): Draw the visualization.
void subDraw(int xOffsetFromTopLeft, int yOffsetFromTopLeft, int subImageWidth, int subImageHeight): Draw the visualization in a subportion of the window.
auto drawToFile(const std::string filename = "iDynTreeVisualizerScreenshot.png") -> bool: Draw the current visualization to a image file.
void close(): Close the visualizer.
auto isWindowActive() const -> bool: Get if the visualizer window is active (to allow drawing only if necessary)
auto setColorPalette(const std::string& name) -> bool: Set the color palette.

Function documentation

bool iDynTree::Visualizer::init(const VisualizerOptions& visualizerOptions = VisualizerOptions())

Initialize the visualization.

bool iDynTree::Visualizer::addModel(const iDynTree::Model& model, const std::string& instanceName)

Add an instance of a given model to the visualization.

Parameters
model in
instanceName in	name of the instance of the model added.
Returns	true if all went well, false otherwise.

IModelVisualization& iDynTree::Visualizer::modelViz(size_t modelIdx)

Return an interface to a visualization of a model.

Returns	a reference to a valid ModelVisualization if instanceName is the name of a model instance.

IModelVisualization& iDynTree::Visualizer::modelViz(const std::string& instanceName)

Return an interface to a visualization of a model.

Returns	a reference to a valid ModelVisualization if instanceName is the name of a model instance.

ILabel& iDynTree::Visualizer::getLabel(const std::string& labelName)

Get a label given a name.

Note: this does not set the text in the label.

int iDynTree::Visualizer::width() const

Get the visualizer width.

Note: if the window is resized, this returns the correct size only if run is called first.

int iDynTree::Visualizer::height() const

Get the visualizer height.

Note: if the window is resized, this returns the correct size only if run is called first.

void iDynTree::Visualizer::subDraw(int xOffsetFromTopLeft, int yOffsetFromTopLeft, int subImageWidth, int subImageHeight)

Draw the visualization in a subportion of the window.

Need to call draw once done.

bool iDynTree::Visualizer::drawToFile(const std::string filename = "iDynTreeVisualizerScreenshot.png")

Draw the current visualization to a image file.

Returns	true if all went ok, false otherwise.

The format of the image is desumed from the filename.

For more info on the process of writing the image, check irr::video::IVideoDriver::writeImageToFile irrlicht method.

bool iDynTree::Visualizer::isWindowActive() const

Get if the visualizer window is active (to allow drawing only if necessary)

Returns	True if the window is active, false otherwise.

bool iDynTree::Visualizer::setColorPalette(const std::string& name)

Set the color palette.

Parameters
name	name of the color palette. Currently only vanilla and meshcat are supported.
Returns	true if all went ok, false otherwise.