22 #ifndef OPENRAVE_VIEWER_H
23 #define OPENRAVE_VIEWER_H
77 virtual int main(
bool bShow =
true) = 0;
80 virtual void quitmainloop() = 0;
88 virtual void SetCamera(
const RaveTransform<float>& trans,
float focalDistance=0) OPENRAVE_DUMMY_IMPLEMENTATION;
91 virtual RaveTransform<
float> GetCameraTransform() const OPENRAVE_DUMMY_IMPLEMENTATION;
94 virtual geometry::RaveCameraIntrinsics<
float> GetCameraIntrinsics() const OPENRAVE_DUMMY_IMPLEMENTATION;
106 virtual
bool GetCameraImage(std::vector<uint8_t>& memory,
int width,
int height, const RaveTransform<
float>& t, const
SensorBase::CameraIntrinsics& intrinsics) OPENRAVE_DUMMY_IMPLEMENTATION;
110 virtual
void Reset() OPENRAVE_DUMMY_IMPLEMENTATION;
111 virtual
void SetBkgndColor(const RaveVector<
float>& color) OPENRAVE_DUMMY_IMPLEMENTATION;
122 virtual
UserDataPtr RegisterItemSelectionCallback(const ItemSelectionCallbackFn& fncallback) OPENRAVE_DUMMY_IMPLEMENTATION;
133 virtual
UserDataPtr RegisterViewerImageCallback(const ViewerImageCallbackFn& fncallback) OPENRAVE_DUMMY_IMPLEMENTATION;
142 virtual
UserDataPtr RegisterViewerThreadCallback(const ViewerThreadCallbackFn& fncallback) OPENRAVE_DUMMY_IMPLEMENTATION;
146 virtual
void SetEnvironmentSync(
bool bUpdate) OPENRAVE_DUMMY_IMPLEMENTATION;
151 virtual
void EnvironmentSync() OPENRAVE_DUMMY_IMPLEMENTATION;
153 virtual
void SetSize(
int w,
int h) OPENRAVE_DUMMY_IMPLEMENTATION;
174 virtual const std::string& GetName() const OPENRAVE_DUMMY_IMPLEMENTATION;
177 virtual
void UpdateCameraTransform()
RAVE_DEPRECATED OPENRAVE_DUMMY_IMPLEMENTATION;
183 return RegisterItemSelectionCallback(fncallback);
189 body->SetUserData(GetXMLId(), data);
192 virtual GraphHandlePtr plot3(
const float* ppoints,
int numPoints,
int stride,
float fPointSize,
const RaveVector<float>& color,
int drawstyle = 0) OPENRAVE_DUMMY_IMPLEMENTATION;
193 virtual
GraphHandlePtr plot3(const
float* ppoints,
int numPoints,
int stride,
float fPointSize, const
float* colors,
int drawstyle = 0,
bool bhasalpha=false) OPENRAVE_DUMMY_IMPLEMENTATION;
195 virtual
GraphHandlePtr drawlinestrip(const
float* ppoints,
int numPoints,
int stride,
float fwidth, const RaveVector<
float>& color) OPENRAVE_DUMMY_IMPLEMENTATION;
196 virtual
GraphHandlePtr drawlinestrip(const
float* ppoints,
int numPoints,
int stride,
float fwidth, const
float* colors) OPENRAVE_DUMMY_IMPLEMENTATION;
198 virtual
GraphHandlePtr drawlinelist(const
float* ppoints,
int numPoints,
int stride,
float fwidth, const RaveVector<
float>& color) OPENRAVE_DUMMY_IMPLEMENTATION;
199 virtual
GraphHandlePtr drawlinelist(const
float* ppoints,
int numPoints,
int stride,
float fwidth, const
float* colors) OPENRAVE_DUMMY_IMPLEMENTATION;
201 virtual
GraphHandlePtr drawarrow(const RaveVector<
float>& p1, const RaveVector<
float>& p2,
float fwidth, const RaveVector<
float>& color) OPENRAVE_DUMMY_IMPLEMENTATION;
203 virtual
GraphHandlePtr drawbox(const RaveVector<
float>& vpos, const RaveVector<
float>& vextents) OPENRAVE_DUMMY_IMPLEMENTATION;
204 virtual
GraphHandlePtr drawplane(const RaveTransform<
float>& tplane, const RaveVector<
float>& vextents, const boost::multi_array<
float,3>& vtexture) OPENRAVE_DUMMY_IMPLEMENTATION;
206 virtual
GraphHandlePtr drawtrimesh(const
float* ppoints,
int stride, const
int* pIndices,
int numTriangles, const RaveVector<
float>& color) OPENRAVE_DUMMY_IMPLEMENTATION;
207 virtual
GraphHandlePtr drawtrimesh(const
float* ppoints,
int stride, const
int* pIndices,
int numTriangles, const boost::multi_array<
float,2>& colors) OPENRAVE_DUMMY_IMPLEMENTATION;
210 return boost::static_pointer_cast<
ViewerBase>(shared_from_this());
213 return boost::static_pointer_cast<
ViewerBase const>(shared_from_this());
217 virtual const char* GetHash()
const {
223 friend class Environment;
225 friend class ::Environment;