6 #include "View/ObjectPoseWidget.h" 7 #include "Sensing/Sensor.h" 57 int cur_link,cur_driver;
58 vector<bool> self_colliding;
62 int pose_ik,pose_objects;
63 vector<RobotPoseWidget> robotWidgets;
64 vector<RigidObjectPoseWidget> objectWidgets;
66 GLDraw::Widget* lastActiveWidget;
67 int draw_geom,draw_bbs,draw_com,draw_frame,draw_expanded,draw_sensors;
68 int draw_self_collision_tests;
69 int output_ros, ros_status;
71 vector<GLDisplayList> originalDisplayLists,expandedDisplayLists;
76 virtual void RenderWorld();
77 virtual bool OnQuit();
78 virtual bool OnButtonPress(
const string& button);
79 virtual bool OnButtonToggle(
const string& button,
int checked);
80 virtual bool OnCommand(
const string& cmd,
const string& args);
81 virtual void DoPassiveMouseMove(
int x,
int y);
82 virtual void BeginDrag(
int x,
int y,
int button,
int modifiers);
83 virtual void EndDrag(
int x,
int y,
int button,
int modifiers);
84 virtual void DoFreeDrag(
int dx,
int dy,
int button);
85 void RefreshSensors();
86 void SetDrawExpanded(
int value);
93 #if defined (__APPLE__) || defined (MACOSX) 97 #endif //__APPLE__ || MACOSX 101 class GLUIRobotTestGUI :
public GLUIGUI 108 GLUI_Spinner* link_spinner, *link_value_spinner;
109 GLUI_Listbox* link_listbox;
110 GLUI_StaticText* link_info;
111 GLUI_Spinner* driver_spinner, *driver_value_spinner;
112 GLUI_Listbox* driver_listbox;
113 GLUI_StaticText* driver_info;
114 int cur_link,cur_driver;
117 virtual bool Initialize();
118 virtual void Handle_Control(
int id);
119 virtual bool OnCommand(
const string& cmd,
const string& args);
128 #endif //ROBOTTESTGUI A set of sensors for the robot.
Definition: Sensor.h:111
A base class for GLUI GUIs.
Definition: GLUIGUI.h:20
RobotTest program.
Definition: RobotTestGUI.h:52
The main robot type used in RobotSim.
Definition: Robot.h:83
Definition: GenericGUI.h:86
A generic gui with a WorldModel which allows clicking on entities and loading files.
Definition: WorldGUI.h:23
Definition: ContactDistance.h:6
The main world class containing multiple robots, objects, and static geometries (terrains). Lights and other viewport information may also be stored here.
Definition: World.h:24