Draws the robot (potentially color-coded) More...

#include <ViewRobot.h>

Public Member Functions
	ViewRobot (Robot *robot=NULL)

void	Draw (Robot *robot)
	Draws the whole robot.

void	Draw ()
	Draws the whole robot.

void	DrawLink_Local (int i, bool keepAppearance=true)
	draws link i's geometry in its local frame

void	DrawLink_World (int i, bool keepAppearance=true)
	draws link i's geometry in the world frame

void	DrawCenterOfMass (Real radius=0.05)

void	DrawLinkCenterOfMass (int i, Real radius=0.05)

void	DrawLinkFrames (Real size=0.1)

void	DrawLinkSkeleton ()

void	DrawTorques (const Vector &t)

void	SetColors (const GLDraw::GLColor &c)

void	SetColor (int i, const GLDraw::GLColor &c)

void	SetGrey ()

void	SetTorqueColors (const Vector &t)

GLDraw::GeometryAppearance &	Appearance (int link)
	gets the currently active appearance

void	PushAppearance ()
	pushes a new active appearance

void	PopAppearance ()
	pops the last active appearance

void	RestoreAppearance ()
	restores the base appearance

vector< GLDraw::GeometryAppearance >	GetAppearance ()
	easy way to save/restore appearance

void	SetAppearance (const vector< GLDraw::GeometryAppearance > &)
	easy way to save/restore appearance

Public Attributes
Robot *	robot

vector< vector< GLDraw::GeometryAppearance > >	appearanceStack

Detailed Description

Draws the robot (potentially color-coded)

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

Public Member Functions