RobWorkProject: WorkCellScene Class Reference

class for wrapping the SceneGraph interface such that it extends the scene-graph functionality to work on frames and workcells. More...

#include <WorkCellScene.hpp>

Public Types
typedef rw::core::Ptr< WorkCellScene >	Ptr
	smart pointer to this class

Public Member Functions
	WorkCellScene (SceneGraph::Ptr scene)
	constructor - creates a workcell with a current SceneGraph More...

virtual	~WorkCellScene ()
	destructor

void	draw (SceneGraph::RenderInfo &info)
	renders the complete scene using the settings in info. More...

void	setWorkCell (rw::core::Ptr< rw::models::WorkCell > wc)
	set the workcell to render More...

rw::core::Ptr< rw::models::WorkCell >	getWorkCell ()
	get the workcell that is currently being rendered.

void	setState (const rw::kinematics::State &state)
	state changes are updated by calling this method. That includes transformations between frames, joints and stuff. More...

rw::graphics::GroupNode::Ptr	getWorldNode ()
	gets the node of the scene graph that maps to the world frame of the workcell. More...

void	updateSceneGraph (const rw::kinematics::State &state)
	updates the state of the scenegraph to that of state More...

void	clearCache ()
	any cached drawables or scene nodes are deleted

void	setVisible (bool visible, const rw::core::Ptr< rw::kinematics::Frame > f)
	sets the visibility of a frame and its drawables. More...

bool	isVisible (const rw::core::Ptr< rw::kinematics::Frame > f) const
	test if a frame is visible or not More...

void	setHighlighted (bool highlighted, const rw::core::Ptr< rw::kinematics::Frame > f)
	sets a frame to be highlighted or not. More...

bool	isHighlighted (const rw::core::Ptr< rw::kinematics::Frame > f) const
	test if a frame is highlighted or not More...

void	setFrameAxisVisible (bool visible, rw::core::Ptr< rw::kinematics::Frame > f, double size=0.25)
	enables the drawing of the frame-axis of a frame. More...

bool	isFrameAxisVisible (const rw::core::Ptr< rw::kinematics::Frame > f) const
	test if frame-axis is visible More...

void	setFrameLabelVisible (bool visible, rw::kinematics::Frame::Ptr f)
	enables the drawing of the frame label of a frame. More...

bool	isFrameLabelVisible (const rw::kinematics::Frame::Ptr f) const
	test if frame-label is visible More...

void	setDrawType (DrawableNode::DrawType type, const rw::core::Ptr< rw::kinematics::Frame > f)
	set how drawables of a specific frame should be rendered More...

DrawableNode::DrawType	getDrawType (const rw::core::Ptr< rw::kinematics::Frame > f) const
	get how drawables of a specific frame is to be rendered More...

void	setDrawMask (unsigned int mask, const rw::core::Ptr< rw::kinematics::Frame > f)
	set the draw mask of the drawables of a specific frame More...

unsigned int	getDrawMask (const rw::core::Ptr< rw::kinematics::Frame > f) const
	get the draw mask of the drawables of a specific frame More...

void	setTransparency (double alpha, const rw::core::Ptr< rw::kinematics::Frame > f)
	set drawables of a frame to be translusent More...

rw::core::Ptr< rw::graphics::DrawableGeometryNode >	addLines (const std::string &name, const std::vector< rw::geometry::Line > &lines, rw::core::Ptr< rw::kinematics::Frame > frame, int dmask=DrawableNode::Physical)
	create and add a drawable geometry node of line geometry to the scene More...

rw::core::Ptr< rw::graphics::DrawableGeometryNode >	addGeometry (const std::string &name, rw::core::Ptr< rw::geometry::Geometry > geom, rw::core::Ptr< rw::kinematics::Frame > frame, int dmask=DrawableNode::Physical)
	create and add a drawable geometry node of any type of geometry to the scene More...

DrawableNode::Ptr	addFrameAxis (const std::string &name, double size, rw::core::Ptr< rw::kinematics::Frame > frame, int dmask=DrawableNode::Virtual)
	create and add a drawable node of a frame axis to the scene More...

DrawableNode::Ptr	addModel3D (const std::string &name, rw::core::Ptr< rw::geometry::Model3D > model, rw::core::Ptr< rw::kinematics::Frame > frame, int dmask=DrawableNode::Physical)
	create and add a drawable node of a model3d to the scene More...

DrawableNode::Ptr	addImage (const std::string &name, const rw::sensor::Image &img, rw::core::Ptr< rw::kinematics::Frame > frame, int dmask=DrawableNode::Virtual)
	create and add a drawable node of an image to the scene More...

DrawableNode::Ptr	addScan (const std::string &name, const rw::geometry::PointCloud &scan, rw::core::Ptr< rw::kinematics::Frame > frame, int dmask=DrawableNode::Virtual)
	create and add a drawable node of a scan to the scene More...

DrawableNode::Ptr	addText (const std::string &name, const std::string &text, rw::core::Ptr< rw::kinematics::Frame > frame, int dmask=DrawableNode::Virtual)
	create and add a drawable node of a textlabel More...

DrawableNode::Ptr	addRender (const std::string &name, rw::core::Ptr< rw::graphics::Render > render, rw::core::Ptr< rw::kinematics::Frame > frame, int dmask=DrawableNode::Physical)
	create and add a drawable node of a render, to the scene More...

DrawableNode::Ptr	addDrawable (const std::string &filename, rw::core::Ptr< rw::kinematics::Frame > frame, int dmask=DrawableNode::Physical)
	create and add a drawable node from a filename to the scene More...

void	addDrawable (DrawableNode::Ptr drawable, rw::core::Ptr< rw::kinematics::Frame > frame)
	add a drawable node to the scene More...

std::vector< DrawableNode::Ptr >	getDrawables ()
	get all drawables of the WorkCellScene More...

std::vector< DrawableNode::Ptr >	getDrawables (const rw::core::Ptr< rw::kinematics::Frame > f) const
	get all drawables of a specific frame in the WorkCellScene More...

std::vector< DrawableNode::Ptr >	getDrawablesRec (rw::core::Ptr< rw::kinematics::Frame > f, rw::kinematics::State &state)
	get all drawables of a frame and all frames that kinematicly is connected to the sub-tree of f. More...

DrawableNode::Ptr	findDrawable (const std::string &name)
	find a drawable by name name. More...

DrawableNode::Ptr	findDrawable (const std::string &name, const rw::core::Ptr< rw::kinematics::Frame > frame)
	find a drawable by name name that is attached to frame frame More...

std::vector< DrawableNode::Ptr >	findDrawables (const std::string &name)
	find all drawables by name name. More...

bool	removeDrawables (const rw::core::Ptr< rw::kinematics::Frame > f)
	remove all drawables on a frame More...

bool	removeDrawables (const std::string &name)
	remove all drawables with name name More...

bool	removeDrawable (DrawableNode::Ptr drawable)
	remove a drawable from the scene More...

bool	removeDrawable (DrawableNode::Ptr drawable, const rw::core::Ptr< rw::kinematics::Frame > f)
	remove a drawable from a specific frame More...

bool	removeDrawable (const std::string &name)
	remove first drawable by name name More...

bool	removeDrawable (const std::string &name, const rw::core::Ptr< rw::kinematics::Frame > f)
	remove drawable by name and which is attached to frame f More...

rw::kinematics::Frame *	getFrame (DrawableNode::Ptr d) const
	get the frame that a specific drawable d is associated to More...

rw::graphics::GroupNode::Ptr	getNode (const rw::core::Ptr< rw::kinematics::Frame > frame) const
	Get the GroupNode corresponding to the given frame. More...

Detailed Description

class for wrapping the SceneGraph interface such that it extends the scene-graph functionality to work on frames and workcells.

The scene graph is composed of nodes which are related to Frames. Each frame can have several Drawables attached which can be considered as leafs. Beside keeping track of the mapping from frames to scenenodes, this class also adds settings such as highlighted, adding of frameaxis(per Frame), visibility and so on.

Constructor & Destructor Documentation

◆ WorkCellScene()

WorkCellScene ( SceneGraph::Ptr scene )

constructor - creates a workcell with a current SceneGraph

Parameters

scene [in] scene graph to use.

Member Function Documentation

◆ addDrawable() [1/2]

DrawableNode::Ptr addDrawable	(	const std::string &	filename,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		int	dmask = `DrawableNode::Physical`
	)

create and add a drawable node from a filename to the scene

Parameters

filename	[in] name of drawable node
frame	[in] the frame where the drawable is to be placed
dmask	[in] the drawable mask

Returns: the drawable node

◆ addDrawable() [2/2]

void addDrawable	(	DrawableNode::Ptr	drawable,
		rw::core::Ptr< rw::kinematics::Frame >	frame
	)

add a drawable node to the scene

Parameters

drawable	[in] the drawable
frame	[in] the frame where the drawable is to be placed

◆ addFrameAxis()

DrawableNode::Ptr addFrameAxis	(	const std::string &	name,
		double	size,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		int	dmask = `DrawableNode::Virtual`
	)

create and add a drawable node of a frame axis to the scene

Parameters

name	[in] name of drawable node
size	[in] the length of the axis arrows in meters
frame	[in] the frame where the drawable is to be placed
dmask	[in] the drawable mask

Returns: the drawable node geometry

◆ addGeometry()

rw::core::Ptr<rw::graphics::DrawableGeometryNode> addGeometry	(	const std::string &	name,
		rw::core::Ptr< rw::geometry::Geometry >	geom,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		int	dmask = `DrawableNode::Physical`
	)

create and add a drawable geometry node of any type of geometry to the scene

Parameters

name	[in] name of drawable node
geom	[in] the geometry
frame	[in] the frame where the drawable is to be placed
dmask	[in] the drawable mask

Returns: the drawable node geometry

◆ addImage()

DrawableNode::Ptr addImage	(	const std::string &	name,
		const rw::sensor::Image &	img,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		int	dmask = `DrawableNode::Virtual`
	)

create and add a drawable node of an image to the scene

Parameters

name	[in] name of drawable node
img	[in] the image
frame	[in] the frame where the drawable is to be placed
dmask	[in] the drawable mask

Returns: the drawable node geometry

Note: the size of the image in the scene will be pixel/cm. To change this please use scale.

◆ addLines()

rw::core::Ptr<rw::graphics::DrawableGeometryNode> addLines	(	const std::string &	name,
		const std::vector< rw::geometry::Line > &	lines,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		int	dmask = `DrawableNode::Physical`
	)

create and add a drawable geometry node of line geometry to the scene

Parameters

name	[in] name of drawable node
lines	[in] the line geometry
frame	[in] the frame where the drawable is to be placed
dmask	[in] the drawable mask

Returns: the drawable node geometry

◆ addModel3D()

DrawableNode::Ptr addModel3D	(	const std::string &	name,
		rw::core::Ptr< rw::geometry::Model3D >	model,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		int	dmask = `DrawableNode::Physical`
	)

create and add a drawable node of a model3d to the scene

Parameters

name	[in] name of drawable node
model	[in] the model3d
frame	[in] the frame where the drawable is to be placed
dmask	[in] the drawable mask

Returns: the drawable node geometry

◆ addRender()

DrawableNode::Ptr addRender	(	const std::string &	name,
		rw::core::Ptr< rw::graphics::Render >	render,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		int	dmask = `DrawableNode::Physical`
	)

create and add a drawable node of a render, to the scene

Parameters

name	[in] name of drawable node
render	[in] the render
frame	[in] the frame where the drawable is to be placed
dmask	[in] the drawable mask

Returns: the drawable node

◆ addScan()

DrawableNode::Ptr addScan	(	const std::string &	name,
		const rw::geometry::PointCloud &	scan,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		int	dmask = `DrawableNode::Virtual`
	)

create and add a drawable node of a scan to the scene

Parameters

name	[in] name of drawable node
scan	[in] the scan
frame	[in] the frame where the drawable is to be placed
dmask	[in] the drawable mask

Returns: the drawable node

◆ addText()

DrawableNode::Ptr addText	(	const std::string &	name,
		const std::string &	text,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		int	dmask = `DrawableNode::Virtual`
	)

create and add a drawable node of a textlabel

Parameters

name	[in] name of drawable node
text	[in] the label text
frame	[in] the frame where the drawable is to be placed
dmask	[in] the drawable mask

Returns: the drawable node

◆ draw()

void draw ( SceneGraph::RenderInfo & info )

renders the complete scene using the settings in info.

This basically forwards the call to SceneGraph::draw

Parameters

info	[in] render settings

◆ findDrawable() [1/2]

DrawableNode::Ptr findDrawable ( const std::string & name )

find a drawable by name name.

Parameters

name	[in] the name of the drawable

Returns: a drawable with name name or NULL if no such drawable exist in the scene

◆ findDrawable() [2/2]

DrawableNode::Ptr findDrawable	(	const std::string &	name,
		const rw::core::Ptr< rw::kinematics::Frame >	frame
	)

find a drawable by name name that is attached to frame frame

Parameters

name	[in] the name of the drawable
frame	[in] search only the subtree beginning from this frame.

Returns: a drawable with name name or NULL if no such drawable exist in the scene

◆ findDrawables()

std::vector<DrawableNode::Ptr> findDrawables ( const std::string & name )

find all drawables by name name.

Parameters

name	[in] the name of the drawable

Returns: all drawables with name name

◆ getDrawables() [1/2]

std::vector<DrawableNode::Ptr> getDrawables ( )

get all drawables of the WorkCellScene

Returns: a list of drawables

◆ getDrawables() [2/2]

std::vector<DrawableNode::Ptr> getDrawables ( const rw::core::Ptr< rw::kinematics::Frame > f ) const

get all drawables of a specific frame in the WorkCellScene

Parameters

f	[in] the frame

Returns: a list of drawables

◆ getDrawablesRec()

std::vector<DrawableNode::Ptr> getDrawablesRec	(	rw::core::Ptr< rw::kinematics::Frame >	f,
		rw::kinematics::State &	state
	)

get all drawables of a frame and all frames that kinematicly is connected to the sub-tree of f.

Parameters

f	[in] the frame
state	[in] the current state

Returns: a list of drawables

◆ getDrawMask()

unsigned int getDrawMask ( const rw::core::Ptr< rw::kinematics::Frame > f ) const

get the draw mask of the drawables of a specific frame

Parameters

f	[in] the frame

Returns: the drawmask

◆ getDrawType()

DrawableNode::DrawType getDrawType ( const rw::core::Ptr< rw::kinematics::Frame > f ) const

get how drawables of a specific frame is to be rendered

Parameters

f	[in] the Frame

Returns: the drawtype

◆ getFrame()

rw::kinematics::Frame* getFrame ( DrawableNode::Ptr d ) const

get the frame that a specific drawable d is associated to

Parameters

d	[in] the drawable

Returns: the first frame that the drawable is associated to, or NULL if there are no associations

◆ getNode()

rw::graphics::GroupNode::Ptr getNode ( const rw::core::Ptr< rw::kinematics::Frame > frame ) const

Get the GroupNode corresponding to the given frame.

Parameters

frame [in] the frame.

Returns: group node.

◆ getWorldNode()

rw::graphics::GroupNode::Ptr getWorldNode ( )

gets the node of the scene graph that maps to the world frame of the workcell.

Returns: scene node

◆ isFrameAxisVisible()

bool isFrameAxisVisible ( const rw::core::Ptr< rw::kinematics::Frame > f ) const

test if frame-axis is visible

Parameters

f	[in] the frame

Returns: true if frame axis of frame is set to be drawn, false otherwise

◆ isFrameLabelVisible()

bool isFrameLabelVisible ( const rw::kinematics::Frame::Ptr f ) const

test if frame-label is visible

Parameters

f	[in] the frame

Returns: true if frame label of frame is set to be drawn, false otherwise

◆ isHighlighted()

bool isHighlighted ( const rw::core::Ptr< rw::kinematics::Frame > f ) const

test if a frame is highlighted or not

Parameters

f	[in] the frame

Returns: true if frame is highlighted, false if not

◆ isVisible()

bool isVisible ( const rw::core::Ptr< rw::kinematics::Frame > f ) const

test if a frame is visible or not

Parameters

f	[in] the frame

Returns: true if frame is visible, false if not

◆ removeDrawable() [1/4]

bool removeDrawable ( const std::string & name )

remove first drawable by name name

Parameters

name	[in] the name

Returns: true if successfull

◆ removeDrawable() [2/4]

bool removeDrawable	(	const std::string &	name,
		const rw::core::Ptr< rw::kinematics::Frame >	f
	)

remove drawable by name
and which is attached to frame f

Parameters

name	[in] name of drawable
f	[in] the frame

Returns: true if successfull

◆ removeDrawable() [3/4]

bool removeDrawable ( DrawableNode::Ptr drawable )

remove a drawable from the scene

Parameters

drawable [in] the drawable

Returns: true if successfull

◆ removeDrawable() [4/4]

bool removeDrawable	(	DrawableNode::Ptr	drawable,
		const rw::core::Ptr< rw::kinematics::Frame >	f
	)

remove a drawable from a specific frame

Parameters

drawable	[in] the drawable
f	[in] the frame

Returns: true if successfull

◆ removeDrawables() [1/2]

bool removeDrawables ( const rw::core::Ptr< rw::kinematics::Frame > f )

remove all drawables on a frame

Parameters

f	[in] the frame

Returns: true if successfull

◆ removeDrawables() [2/2]

bool removeDrawables ( const std::string & name )

remove all drawables with name
name

Parameters

name	[in] the name

Returns: true if successfull

◆ setDrawMask()

void setDrawMask	(	unsigned int	mask,
		const rw::core::Ptr< rw::kinematics::Frame >	f
	)

set the draw mask of the drawables of a specific frame

Parameters

mask	[in] draw mask
f	[in] the frame

◆ setDrawType()

void setDrawType	(	DrawableNode::DrawType	type,
		const rw::core::Ptr< rw::kinematics::Frame >	f
	)

set how drawables of a specific frame should be rendered

Parameters

type	[in] the drawtype
f	[in] the Frame

◆ setFrameAxisVisible()

void setFrameAxisVisible	(	bool	visible,
		rw::core::Ptr< rw::kinematics::Frame >	f,
		double	size = `0.25`
	)

enables the drawing of the frame-axis of a frame.

Parameters

visible	[in] true if frame axis should be drawn, false otherwise
f	[in] the frame
size	[in] size of the frame-axis (default = 0.25)

◆ setFrameLabelVisible()

void setFrameLabelVisible	(	bool	visible,
		rw::kinematics::Frame::Ptr	f
	)

enables the drawing of the frame label of a frame.

Parameters

visible	[in] true if frame label should be drawn, false otherwise
f	[in] the frame

◆ setHighlighted()

void setHighlighted	(	bool	highlighted,
		const rw::core::Ptr< rw::kinematics::Frame >	f
	)

sets a frame to be highlighted or not.

Parameters

f	[in] the frame.
highlighted	[in] true if frame should be highlighted, false otherwise

◆ setState()

void setState ( const rw::kinematics::State & state )

state changes are updated by calling this method. That includes transformations between frames, joints and stuff.

Parameters

state [in] the new state that is to be rendered

◆ setTransparency()

void setTransparency	(	double	alpha,
		const rw::core::Ptr< rw::kinematics::Frame >	f
	)

set drawables of a frame to be translusent

Parameters

alpha	[in] range [0-1] where 1 is fully opaque and 0 is folly transparent
f	[in] frame

◆ setVisible()

void setVisible	(	bool	visible,
		const rw::core::Ptr< rw::kinematics::Frame >	f
	)

sets the visibility of a frame and its drawables.

Parameters

f	[in] the frame.
visible	[in] true if frame should be visible, false otherwise

◆ setWorkCell()

void setWorkCell ( rw::core::Ptr< rw::models::WorkCell > wc )

set the workcell to render

Parameters

wc	[in] the workcell that is to be rendered

◆ updateSceneGraph()

void updateSceneGraph ( const rw::kinematics::State & state )

updates the state of the scenegraph to that of state

Parameters

state

The documentation for this class was generated from the following file:

WorkCellScene.hpp

Public Types

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ WorkCellScene()

Member Function Documentation

◆ addDrawable() [1/2]

◆ addDrawable() [2/2]

◆ addFrameAxis()

◆ addGeometry()

◆ addImage()

◆ addLines()

◆ addModel3D()

◆ addRender()

◆ addScan()

◆ addText()

◆ draw()

◆ findDrawable() [1/2]

◆ findDrawable() [2/2]

◆ findDrawables()

◆ getDrawables() [1/2]

◆ getDrawables() [2/2]

◆ getDrawablesRec()

◆ getDrawMask()

◆ getDrawType()

◆ getFrame()

◆ getNode()

◆ getWorldNode()

◆ isFrameAxisVisible()

◆ isFrameLabelVisible()

◆ isHighlighted()

◆ isVisible()

◆ removeDrawable() [1/4]

◆ removeDrawable() [2/4]

◆ removeDrawable() [3/4]

◆ removeDrawable() [4/4]

◆ removeDrawables() [1/2]

◆ removeDrawables() [2/2]

◆ setDrawMask()

◆ setDrawType()

◆ setFrameAxisVisible()

◆ setFrameLabelVisible()

◆ setHighlighted()

◆ setState()

◆ setTransparency()

◆ setVisible()

◆ setWorkCell()

◆ updateSceneGraph()