Adding methods for handling primitive shapes to MeshcatVisualizer #1117
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| bool setSphere(const std::string &name, | ||
| const iDynTree::Position &position, | ||
| const double radius, | ||
| const iDynTree::VectorFixSize<3> &color); | ||
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In theory, you should implement two functions. One for loading a sphere and one for set it in space.
Following what is done in MeshcatVisualizer (python version) you may have
for loading a sphere and
for setting its pose
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Moreover I would implement also the version with Span and MatrixView
| const std::string msg = "world_T_base needs to be a 4x4 matrix. Provided a " | ||
| + std::to_string(world_T_base.rows()) + "x" | ||
| + std::to_string(world_T_base.cols()) + " matrix."; | ||
| const std::string msg = "world_T_base needs to be a 4x4 matrix. Provided a " + std::to_string(world_T_base.rows()) + "x" + std::to_string(world_T_base.cols()) + " matrix."; |
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I would avoid having so long lines in the code
| bool setPrimitiveGeometryTransform(const iDynTree::Transform &world_T_geometry, | ||
| const std::string &geometryName); | ||
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| bool setPrimitiveGeometryTransform(const iDynTree::MatrixView<const double> &world_T_geometry, | ||
| const std::string &geometryName); |
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Can you add the documentation?
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It is available with the last commit 09cdd73. I added 1 comment for both implementations. Do I have to duplicate it?
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I think yes since they are rendered by doxygen to generate the documentation
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I think yes since they are rendered by doxygen to generate the documentation
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There is also a way for Doxygen to automatically insert the doc of another method, but for sure the easiest fix is to duplicate.
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With this commit 798df73 everything should be settled. Let me know if any other edit is required @GiulioRomualdi @traversaro.
…rimitiveGeometryTransform methods
…ylinder, loadBox, loadEllipsoid
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@GiulioRomualdi is this ok for you? |
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Yes! 🟢 flag for me! |
traversaro
changed the title
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Ok, I updated the PR title to reflect its current content. cc @G-Cervettini |
Adding methods to MeshcatVisualizer.cpp wrapper of meshcat-cpp to draw basic geometries.