Klamp't  0.8.1
ViewResource.h
1 #ifndef VIEW_RESOURCE_H
2 #define VIEW_RESOURCE_H
3 
4 #include <Klampt/Modeling/Resources.h>
5 #include "ViewRobot.h"
6 #include "ViewStance.h"
7 #include "ViewGrasp.h"
8 
10 {
11  public:
12  ViewResource(Robot* robot=NULL);
13  void SetRobot(Robot* robot);
14  void SetAnimTime(Real time);
15  void DrawGL(const ResourcePtr& r);
16 
17  //helpers
18  void RenderLinearPath(const LinearPathResource* rc,Real pathTime);
19  void RenderMultiPath(const MultiPathResource* path,Real pathTime);
20  void GetAnimConfig(const ResourcePtr& r,Config& q);
21  void GetLinearPathConfig(const LinearPathResource* rc,Real pathTime,Config& q);
22  void GetMultiPathConfig(const MultiPathResource* path,Real pathTime,Config& q);
23 
24 
25  ViewRobot configViewer,configsViewer;
26  ViewRobot pathViewer; Real pathTime;
27  Real pathIKResolution;
28  ViewHold holdViewer;
29  ViewStance stanceViewer;
30  ViewGrasp graspViewer;
31  //custom draw
32  vector<const void*> items;
33  vector<shared_ptr<Geometry::AnyGeometry3D> > geometries;
34  vector<GLDraw::GeometryAppearance> appearances;
35 };
36 
37 #endif
38 
Displays a stance using OpenGL.
Definition: ViewStance.h:29
Displays a grasp using OpenGL.
Definition: ViewGrasp.h:13
The main robot type used in RobotSim.
Definition: Robot.h:79
Draws the robot (potentially color-coded)
Definition: ViewRobot.h:12
Definition: ViewResource.h:9
Resource for a LinearPath.
Definition: Resources.h:139
Displays a hold using OpenGL.
Definition: ViewHold.h:30
Resource for a MultiPath.
Definition: Resources.h:169