DrawList Class Reference

#include <DrawList.h>

Collaboration diagram for DrawList:

Public Member Functions
	DrawList ()
size_t	addCheetah3 (Vec4< float > color, bool useOld)
size_t	addMiniCheetah (Vec4< float > color, bool useOld)
void	buildDrawList ()
void	loadFiles ()
size_t	addCheckerboard (Checkerboard &checkerBoard)
size_t	addDebugSphere (float radius)
void	addBox (double depth, double width, double height, const Vec3< double > &pos, const Mat3< double > &ori, bool transparent)
void	addMesh (double grid_size, const Vec3< double > &left_corner, const DMat< double > &height_map, bool transparent)
void	resize (size_t nUniqueObject, size_t nTotalObjects)
size_t	getNumObjectsToDraw ()
size_t	getGLDrawArrayOffset (size_t i)
size_t	getGLDrawArraySize (size_t i)
float *	getVertexArray ()
float *	getNormalArray ()
size_t	getSizeOfAllData ()
float *	getColorArray ()
QMatrix4x4 &	getModelBaseTransform (size_t i)
QMatrix4x4 &	getModelKinematicTransform (size_t i)
float	getGLDataSizeMB ()
bool	needsReload ()
template<typename T >
void	updateRobotFromModel (DynamicsSimulator< T > &model, size_t id, bool updateOrigin=false)
template<typename T >
void	updateAdditionalInfo (DynamicsSimulator< T > &model)
template<typename T >
void	updateCheckerboardFromCollisionPlane (CollisionPlane< T > &model, size_t id)
template<typename T >
void	updateCheckerboard (T height, size_t id)
template<typename T >
void	updateDebugSphereLocation (Vec3< T > &position, size_t id)
const size_t &	getTotalNumGC ()
const std::vector< double > &	getGCPos (size_t idx)
const std::vector< double > &	getGCForce (size_t idx)
const std::vector< BoxInfo > &	getBoxInfoList ()
const DMat< double > &	getHeightMap ()
const Vec3< double > &	getHeightMapLeftCorner ()
const double &	getHeightMapMax ()
const double &	getHeightMapMin ()
const double &	getGridSize ()
const Vec3< double > &	getCameraOrigin ()

Static Public Member Functions
static void	setSolidColor (std::vector< float > &data, size_t size, float r, float g, float b)

Public Attributes
VisualizationData *	_visualizationData
vectorAligned< SolidColor >	_instanceColor
std::vector< QMatrix4x4 >	_kinematicXform

Private Attributes
size_t	_nUnique = 0
size_t	_nTotal = 0
std::vector< std::vector< float > >	_vertexData
std::vector< std::vector< float > >	_normalData
std::vector< std::vector< float > >	_colorData
vectorAligned< Mat4< float > >	_offsetXforms
std::string	_baseFileName = "../resources/"
std::vector< size_t >	_objectMap
std::vector< size_t >	_glArrayOffsets
std::vector< size_t >	_glArraySizes
std::vector< float >	_glVertexData
std::vector< float >	_glNormalData
std::vector< float >	_glColorData
std::vector< QMatrix4x4 >	_modelOffsets
bool	_reloadNeeded = false
bool	_additionalInfoFirstVisit = true
size_t	_nTotalGC = 0
std::vector< bool >	_cp_touch
std::vector< std::vector< double > >	_cp_pos
std::vector< std::vector< double > >	_cp_force
std::vector< BoxInfo >	_box_list
double	_grid_size
Vec3< double >	_height_map_left_corner
DMat< double >	_height_map
double	_height_map_max
double	_height_map_min
Vec3< double >	_cameraOrigin
size_t	_cheetah3LoadIndex = 0
size_t	_miniCheetahLoadIndex = 0
size_t	_sphereLoadIndex = 0
size_t	_cubeLoadIndex = 0

Detailed Description

Definition at line 49 of file DrawList.h.

Constructor & Destructor Documentation

DrawList::DrawList ( )

inline

Definition at line 53 of file DrawList.h.

References BoxInfo::depth, BoxInfo::height, and BoxInfo::width.

             {
    _cameraOrigin = Vec3<double>::Zero();
    loadFiles();
  }

Member Function Documentation

void DrawList::addBox	(	double	depth,
		double	width,
		double	height,
		const Vec3< double > &	pos,
		const Mat3< double > &	ori,
		bool	transparent
	)

Definition at line 288 of file DrawList.cpp.

References _box_list, _cubeLoadIndex, _instanceColor, _kinematicXform, _modelOffsets, _nTotal, _objectMap, BoxInfo::depth, disgustingGreen, BoxInfo::frame, BoxInfo::height, SolidColor::rgba, ori::rotationMatrixToQuaternion(), SolidColor::useSolidColor, and BoxInfo::width.

                                        {
  if (transparent) {
    BoxInfo tmp;
    tmp.depth = depth;
    tmp.width = width;
    tmp.height = height;

    tmp.frame[3] = 0.;
    tmp.frame[7] = 0.;
    tmp.frame[11] = 0.;
    tmp.frame[15] = 1.;

    for (size_t i(0); i < 3; ++i) {
      for (size_t j(0); j < 3; ++j) {
        tmp.frame[4 * i + j] = ori(j, i);
      }
    }
    for (size_t i(0); i < 3; ++i) tmp.frame[12 + i] = pos[i];

    _box_list.push_back(tmp);
  } else {
    QMatrix4x4 offset;

    // scale box
    offset.setToIdentity();
    offset.scale(depth, width, height);
    _modelOffsets.push_back(offset);

    // move box
    offset.setToIdentity();
    offset.translate(pos[0], pos[1], pos[2]);
    Quat<double> q = ori::rotationMatrixToQuaternion(ori.transpose());
    QQuaternion qq(q[0], q[1], q[2], q[3]);
    offset.rotate(qq);

    _kinematicXform.push_back(offset);

    SolidColor boxColor;
    boxColor.rgba = Vec4<float>(disgustingGreen[0], disgustingGreen[1],
                                disgustingGreen[2], 1.f);
    boxColor.useSolidColor = true;
    _instanceColor.push_back(boxColor);

    _nTotal++;
    _objectMap.push_back(_cubeLoadIndex);
  }
}

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size_t DrawList::addCheckerboard

(

Checkerboard &

checkerBoard

)

Adds a checkerboard to the list of drawables. Uses an identity transformation. You must call updateCheckerboardFromCollisionPlane to set the actual transform.

Definition at line 215 of file DrawList.cpp.

References _colorData, _instanceColor, _kinematicXform, _modelOffsets, _normalData, _nTotal, _nUnique, _objectMap, _vertexData, Checkerboard::computeVertices(), Checkerboard::getSize(), and SolidColor::useSolidColor.

                                                           {
  size_t j0 = _nTotal;
  size_t i0 = _nUnique;

  SolidColor checkerColor;
  checkerColor.useSolidColor = false;

  _nUnique++;
  // add the object
  _vertexData.emplace_back();
  _normalData.emplace_back();
  _colorData.emplace_back();
  checkerBoard.computeVertices(_vertexData.back(), _normalData.back(),
                               _colorData.back());
  QMatrix4x4 eye, offset;
  eye.setToIdentity();
  offset.setToIdentity();
  offset.translate(-checkerBoard.getSize()[0] / 2,
                   -checkerBoard.getSize()[1] / 2);
  _modelOffsets.push_back(offset);
  _kinematicXform.push_back(eye);
  _instanceColor.push_back(checkerColor);

  _nTotal++;
  // add the instance
  _objectMap.push_back(i0);
  return j0;
}

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size_t DrawList::addCheetah3	(	Vec4< float >	color,
		bool	useOld
	)

Load the cheetah 3 model and build the draw list. Returns an index number that can later be used to update the position of the robot.

Definition at line 48 of file DrawList.cpp.

References _cheetah3LoadIndex, _instanceColor, _kinematicXform, _modelOffsets, _nTotal, _objectMap, buildDrawList(), f(), SolidColor::rgba, and SolidColor::useSolidColor.

                                                           {
  size_t i0 = _cheetah3LoadIndex;
  size_t j0 = _nTotal;

  // set model offsets:
  QMatrix4x4 bodyOffset, abadOffset, lowerOffset, eye;
  eye.setToIdentity();
  QMatrix4x4 upperOffsets[2];

  // body
  bodyOffset.setToIdentity();
  bodyOffset.rotate(90, 1, 0, 0);
  bodyOffset.rotate(90, 0, 0, 1);

  // abad
  abadOffset.setToIdentity();

  // upper link
  upperOffsets[0].setToIdentity();
  upperOffsets[0].rotate(-180, 0, 1, 0);
  upperOffsets[0].translate(0, -.045f, 0);
  upperOffsets[0].rotate(-180, 0, 0, 1);

  upperOffsets[1].setToIdentity();
  upperOffsets[1].rotate(-180, 0, 1, 0);
  upperOffsets[1].translate(0, .045f, 0);

  lowerOffset.setToIdentity();
  lowerOffset.rotate(180, 0, 1, 0);
  lowerOffset.translate(0, 0, 0);

  SolidColor bodyColor, abadColor, link1Color, link2Color;
  bodyColor.rgba = useOld ? Vec4<float>(.2, .2, .2, .6) : color;
  bodyColor.useSolidColor = true;

  abadColor.rgba = useOld ? Vec4<float>(.3, .2, .2, .6) : color;
  abadColor.useSolidColor = true;

  link1Color.rgba = useOld ? Vec4<float>(.2, .3, .2, .6) : color;
  link1Color.useSolidColor = true;

  link2Color.rgba = useOld ? Vec4<float>(.2, .2, .3, .6) : color;
  link2Color.useSolidColor = true;

  // add bodies
  _objectMap.push_back(i0 + 0);
  _modelOffsets.push_back(bodyOffset);
  _kinematicXform.push_back(eye);
  _instanceColor.push_back(bodyColor);
  _nTotal++;

  for (int i = 0; i < 4; i++) {
    _objectMap.push_back(i0 + 1);
    _modelOffsets.push_back(abadOffset);
    _kinematicXform.push_back(eye);
    _instanceColor.push_back(abadColor);

    _objectMap.push_back(i0 + 2);
    _modelOffsets.push_back(upperOffsets[i % 2]);
    _kinematicXform.push_back(eye);
    _instanceColor.push_back(link1Color);

    _objectMap.push_back(i0 + 3);
    _modelOffsets.push_back(lowerOffset);
    _kinematicXform.push_back(eye);
    _instanceColor.push_back(link2Color);
    _nTotal += 3;
  }

  printf("size of kinematicXform: %lu, j0: %lu\n", _kinematicXform.size(), j0);

  buildDrawList();
  return j0;
}

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size_t DrawList::addDebugSphere

(

float

radius

)

Adds a sphere to the list of drawables.

Definition at line 247 of file DrawList.cpp.

References _kinematicXform, _modelOffsets, _nTotal, _objectMap, and _sphereLoadIndex.

                                            {
  assert(false);
  size_t j0 = _nTotal;

  QMatrix4x4 offset;
  offset.setToIdentity();
  _kinematicXform.push_back(offset);
  offset.scale(radius);
  _modelOffsets.push_back(offset);

  _nTotal++;
  _objectMap.push_back(_sphereLoadIndex);
  return j0;
}

void DrawList::addMesh	(	double	grid_size,
		const Vec3< double > &	left_corner,
		const DMat< double > &	height_map,
		bool	transparent
	)

Definition at line 338 of file DrawList.cpp.

References _grid_size, _height_map, _height_map_left_corner, _height_map_max, and _height_map_min.

                                                                         {
  (void)transparent;

  _grid_size = grid_size;
  _height_map_left_corner = left_corner;
  _height_map = height_map;
  _height_map_min = 1.e5;
  _height_map_max = -1.e5;

  for (int i(0); i < height_map.rows(); ++i) {
    for (int j(0); j < height_map.cols(); ++j) {
      if (height_map(i, j) > _height_map_max) {
        _height_map_max = height_map(i, j);
      }
      if (height_map(i, j) < _height_map_min) {
        _height_map_min = height_map(i, j);
      }
    }
  }
}

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size_t DrawList::addMiniCheetah	(	Vec4< float >	color,
		bool	useOld
	)

Load the mini cheetah model and builds the draw list. Returns an index number that can later be used to update the position of the robot. TODO check all this once the mini cheetah dynamics model exists again

Definition at line 129 of file DrawList.cpp.

References _instanceColor, _kinematicXform, _miniCheetahLoadIndex, _modelOffsets, _nTotal, _objectMap, f(), SolidColor::rgba, and SolidColor::useSolidColor.

                                                              {
  size_t i0 = _miniCheetahLoadIndex;  // todo don't hard code this
  size_t j0 = _nTotal;

  // set model offsets:
  QMatrix4x4 bodyOffset, upper, lower, eye;
  QMatrix4x4 abadOffsets[4];
  eye.setToIdentity();

  // body
  bodyOffset.setToIdentity();

  // abads (todo, check these)
  abadOffsets[0].setToIdentity();  // n
  abadOffsets[0].rotate(-90, 0, 0, 1);
  abadOffsets[0].translate(0, -.0565f, 0);
  abadOffsets[0].rotate(180, 0, 1, 0);

  abadOffsets[1].setToIdentity();  // p
  abadOffsets[1].rotate(-90, 0, 0, 1);
  abadOffsets[1].translate(0, -.0565f, 0);
  abadOffsets[1].rotate(0, 0, 1, 0);

  abadOffsets[2].setToIdentity();  // n
  abadOffsets[2].rotate(90, 0, 0, 1);
  abadOffsets[2].translate(0, -.0565f, 0);
  abadOffsets[2].rotate(0, 0, 1, 0);

  abadOffsets[3].setToIdentity();  // p
  abadOffsets[3].rotate(90, 0, 0, 1);
  abadOffsets[3].translate(0, -.0565f, 0);
  abadOffsets[3].rotate(180, 0, 1, 0);

  // upper
  upper.setToIdentity();
  upper.rotate(-90, 0, 1, 0);

  // lower
  lower.setToIdentity();
  lower.rotate(180, 0, 1, 0);

  SolidColor bodyColor, abadColor, link1Color, link2Color;
  bodyColor.rgba = useOld ? Vec4<float>(.2, .2, .2, .6) : color;
  bodyColor.useSolidColor = true;

  abadColor.rgba = useOld ? Vec4<float>(.3, .2, .2, .6) : color;
  abadColor.useSolidColor = true;

  link1Color.rgba = useOld ? Vec4<float>(.2, .3, .2, .6) : color;
  link1Color.useSolidColor = true;

  link2Color.rgba = useOld ? Vec4<float>(.2, .2, .3, .6) : color;
  link2Color.useSolidColor = true;

  // add objects
  _objectMap.push_back(i0 + 0);
  _modelOffsets.push_back(bodyOffset);
  _kinematicXform.push_back(eye);
  _instanceColor.push_back(bodyColor);
  _nTotal++;

  for (int i = 0; i < 4; i++) {
    _objectMap.push_back(i0 + 1);
    _modelOffsets.push_back(abadOffsets[i]);
    _kinematicXform.push_back(eye);
    _instanceColor.push_back(abadColor);

    _objectMap.push_back(i0 + 2);
    _modelOffsets.push_back(upper);
    _kinematicXform.push_back(eye);
    _instanceColor.push_back(link1Color);

    _objectMap.push_back(i0 + 3);
    _modelOffsets.push_back(lower);
    _kinematicXform.push_back(eye);
    _instanceColor.push_back(link2Color);
    _nTotal += 3;
  }
  return j0;
}

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void DrawList::buildDrawList

(

)

Rebuilds the drawing list and sets the flag indicating that model data must be reloaded.

Definition at line 266 of file DrawList.cpp.

References _colorData, _glArrayOffsets, _glArraySizes, _glColorData, _glNormalData, _glVertexData, _normalData, _nUnique, _reloadNeeded, and _vertexData.

                             {
  _glVertexData.clear();
  _glColorData.clear();
  _glNormalData.clear();
  _glArrayOffsets.clear();
  _glArraySizes.clear();

  for (size_t i = 0; i < _nUnique; i++) {
    _glArrayOffsets.push_back(_glVertexData.size());
    _glArraySizes.push_back(_vertexData.at(i).size());
    // add the data for the objects
    _glVertexData.insert(_glVertexData.end(), _vertexData.at(i).begin(),
                         _vertexData.at(i).end());
    _glColorData.insert(_glColorData.end(), _colorData.at(i).begin(),
                        _colorData.at(i).end());
    _glNormalData.insert(_glNormalData.end(), _normalData.at(i).begin(),
                         _normalData.at(i).end());
  }

  _reloadNeeded = true;
}

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const std::vector<BoxInfo>& DrawList::getBoxInfoList ( )

inline

Definition at line 267 of file DrawList.h.

{ return _box_list; }

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const Vec3<double>& DrawList::getCameraOrigin ( )

inline

Definition at line 277 of file DrawList.h.

{ return _cameraOrigin; }

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float* DrawList::getColorArray ( )

inline

Get the array containing all color data.

Definition at line 121 of file DrawList.h.

{ return _glColorData.data(); }

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const std::vector<double>& DrawList::getGCForce ( size_t  idx )

inline

Definition at line 266 of file DrawList.h.

{ return _cp_force[idx]; }

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const std::vector<double>& DrawList::getGCPos ( size_t  idx )

inline

Definition at line 265 of file DrawList.h.

{ return _cp_pos[idx]; }

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float DrawList::getGLDataSizeMB ( )

inline

Get size of data used by the GPU in megabytes For debugging

Definition at line 142 of file DrawList.h.

                          {
    size_t bytes =
        _glColorData.size() + _glNormalData.size() + _glVertexData.size();
    bytes = bytes * sizeof(float);
    return (float)bytes / float(1 << 20);
  }

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size_t DrawList::getGLDrawArrayOffset ( size_t  i )

inline

For the i-th object, get the offset into the model data. For use with the glDrawArrays function. Note that several objects may have the same geometry, so this will return the same value for these objects!

Definition at line 93 of file DrawList.h.

                                        {
    return _glArrayOffsets.at(_objectMap.at(i));
  }

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size_t DrawList::getGLDrawArraySize ( size_t  i )

inline

For the i-th object, get the size of the model data array

Definition at line 100 of file DrawList.h.

                                      {
    return _glArraySizes.at(_objectMap.at(i));
  }

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const double& DrawList::getGridSize ( )

inline

Definition at line 275 of file DrawList.h.

{ return _grid_size; }

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const DMat<double>& DrawList::getHeightMap ( )

inline

Definition at line 269 of file DrawList.h.

{ return _height_map; }

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const Vec3<double>& DrawList::getHeightMapLeftCorner ( )

inline

Definition at line 270 of file DrawList.h.

                                               {
    return _height_map_left_corner;
  }

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const double& DrawList::getHeightMapMax ( )

inline

Definition at line 273 of file DrawList.h.

{ return _height_map_max; }

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const double& DrawList::getHeightMapMin ( )

inline

Definition at line 274 of file DrawList.h.

{ return _height_map_min; }

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QMatrix4x4& DrawList::getModelBaseTransform ( size_t  i )

inline

Get the Qt transformation matrix which should be applied to the model geometry This is to correct for errors when exporting parts and shifts them all to the origin.

Definition at line 128 of file DrawList.h.

{ return _modelOffsets[i]; }

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QMatrix4x4& DrawList::getModelKinematicTransform ( size_t  i )

inline

Get the Qt transformation matrix which should be applied to move a model from the origin to where it should be in the world

Definition at line 134 of file DrawList.h.

                                                   {
    return _kinematicXform[i];
  }

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float* DrawList::getNormalArray ( )

inline

Get the array containing all normal data. Use getGLDrawArrayOffset/Size to get indices and sizes for each object

Definition at line 114 of file DrawList.h.

{ return _glNormalData.data(); }

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size_t DrawList::getNumObjectsToDraw ( )

inline

Get the total number of objects to be drawn

Definition at line 85 of file DrawList.h.

{ return _nTotal; }

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size_t DrawList::getSizeOfAllData ( )

inline

Definition at line 116 of file DrawList.h.

{ return _glVertexData.size(); }

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const size_t& DrawList::getTotalNumGC ( )

inline

Definition at line 264 of file DrawList.h.

{ return _nTotalGC; }

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float* DrawList::getVertexArray ( )

inline

Get the array containing all vertex data. Use getGLDrawArrayOffset/Size to get indices and sizes for each object

Definition at line 108 of file DrawList.h.

{ return _glVertexData.data(); }

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void DrawList::loadFiles

(

)

Definition at line 10 of file DrawList.cpp.

References _baseFileName, _cheetah3LoadIndex, _colorData, _cubeLoadIndex, _miniCheetahLoadIndex, _normalData, _nUnique, _sphereLoadIndex, _vertexData, debugRedColor, defaultRobotColor, disgustingGreen, load_obj_file(), and setSolidColor().

                         {
  printf("[DrawList] Load object files...\n");
  std::vector<std::string> names = {
      "c3_body.obj",         "mini_abad.obj",
      "c3_upper_link.obj",   "c3_lower_link.obj",
      "mini_body.obj",       "mini_abad.obj",
      "mini_upper_link.obj", "mini_lower_link.obj",
      "sphere.obj",          "cube.obj"};
  for (const auto& name : names) {
    std::string filename = _baseFileName + name;
    _vertexData.emplace_back();
    _normalData.emplace_back();
    _colorData.emplace_back();
    load_obj_file(filename, _vertexData.back(), _normalData.back());
    if (name == "sphere.obj") {
      setSolidColor(_colorData.back(), _vertexData.back().size(),
                    debugRedColor[0], debugRedColor[1], debugRedColor[2]);
    } else if (name == "cube.obj") {
      setSolidColor(_colorData.back(), _vertexData.back().size(),
                    disgustingGreen[0], disgustingGreen[1], disgustingGreen[2]);
    } else {
      setSolidColor(_colorData.back(), _vertexData.back().size(),
                    defaultRobotColor[0], defaultRobotColor[1],
                    defaultRobotColor[2]);
    }

    _nUnique++;
  }
  _sphereLoadIndex = 8;
  _cubeLoadIndex = 9;
  _miniCheetahLoadIndex = 4;
  _cheetah3LoadIndex = 0;
}

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bool DrawList::needsReload ( )

inline

Returns true a single time if we have changed geometries and need to reload.

Definition at line 153 of file DrawList.h.

                     {
    if (_reloadNeeded) {
      _reloadNeeded = false;
      return true;
    }
    return false;
  }

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void DrawList::resize ( size_t  nUniqueObject, size_t  nTotalObjects  )

inline

Resize to hold size objects.

Definition at line 72 of file DrawList.h.

                                                          {
    _nUnique = nUniqueObject;
    _nTotal = nTotalObjects;
    _vertexData.resize(nUniqueObject);
    _normalData.resize(nUniqueObject);
    _colorData.resize(nUniqueObject);
    _offsetXforms.resize(nUniqueObject);
    _objectMap.resize(nTotalObjects);
  }

static void DrawList::setSolidColor ( std::vector< float > &  data, size_t  size, float  r, float  g, float  b  )

inlinestatic

Fill color data with a solid color

Definition at line 247 of file DrawList.h.

                                              {
    data.clear();
    data.resize(size);

    if ((size % 3) != 0) {
      throw std::runtime_error("setSolidColor invalid size");
    }

    for (size_t i = 0; i < size / 3; i++) {
      data[i * 3 + 0] = r;
      data[i * 3 + 1] = g;
      data[i * 3 + 2] = b;
    }
  }

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template<typename T >

void DrawList::updateAdditionalInfo ( DynamicsSimulator< T > &  model )

inline

Update the additional information drawn by GUI Doesn't run the simulator

• just pulls contact (or other in the future) data from the DynamicsSimulator

  Parameters

  model

  : the simulator

Definition at line 191 of file DrawList.h.

References DynamicsSimulator< T >::getContactForce(), DynamicsSimulator< T >::getModel(), and DynamicsSimulator< T >::getTotalNumGC().

                                                         {
    if (_additionalInfoFirstVisit) {
      _nTotalGC = model.getTotalNumGC();
      _cp_touch.resize(_nTotalGC, false);
      _cp_pos.resize(_nTotalGC);
      _cp_force.resize(_nTotalGC);
      std::vector<double> tmp(3);
      for (size_t i(0); i < _nTotalGC; ++i) {
        _cp_pos[i] = tmp;
        _cp_force[i] = tmp;
      }
      _additionalInfoFirstVisit = false;
    }

    for (size_t i(0); i < _nTotalGC; ++i) {
      // TODO: check touch boolean
      _cp_touch[i] = true;
      for (size_t j(0); j < 3; ++j) {
        _cp_pos[i][j] = model.getModel()._pGC[i][j];
        _cp_force[i][j] = model.getContactForce(i)[j];
      }
    }
  }

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template<typename T >

void DrawList::updateCheckerboard ( T  height, size_t  id  )

inline

Definition at line 229 of file DrawList.h.

                                               {
    QMatrix4x4 H;
    H.setToIdentity();
    H.translate(0., 0., height);
    _kinematicXform.at(id) = H;
  }

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template<typename T >

void DrawList::updateCheckerboardFromCollisionPlane ( CollisionPlane< T > &  model, size_t  id  )

inline

Updates the position of a checkerboard to match an infinite collision plane The infinite collision plane only specifies orientation, so we

Parameters

model	: the collision plane
id	: the id retured from creating the checkerboard

Definition at line 222 of file DrawList.h.

References spatialTransformToQT().

                                                       {
    // Mat4<T> H = sxformToHomogeneous(model.getLocation());
    _kinematicXform.at(id) = spatialTransformToQT(model.getLocation());
  }

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template<typename T >

void DrawList::updateDebugSphereLocation ( Vec3< T > &  position, size_t  id  )

inline

Definition at line 237 of file DrawList.h.

                                                               {
    QMatrix4x4 H;
    H.setToIdentity();
    H.translate(position[0], position[1], position[2]);
    _kinematicXform.at(id) = H;
  }

template<typename T >

void DrawList::updateRobotFromModel ( DynamicsSimulator< T > &  model, size_t  id, bool  updateOrigin = false  )

inline

Update the position of a robot's bodies using the result of a dynamics simulation. Doesn't run the simulator - just pulls _Xa from the DynamicsSimulator

Parameters

model	: the simulator
id	: the id returned from the loadCheetah3 or loadMiniCheetah function.

Definition at line 170 of file DrawList.h.

References DynamicsSimulator< T >::getModel(), DynamicsSimulator< T >::getNumBodies(), DynamicsSimulator< T >::getState(), and spatialTransformToQT().

                                                       {
    for (size_t modelID = 5, graphicsID = id; modelID < model.getNumBodies();
         modelID++, graphicsID++) {
      _kinematicXform.at(graphicsID) =
          spatialTransformToQT(model.getModel()._Xa.at(modelID));
    }

    if (updateOrigin) {
      _cameraOrigin = model.getState().bodyPosition.template cast<T>();
    }
  }

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Member Data Documentation

bool DrawList::_additionalInfoFirstVisit = true

private

Definition at line 302 of file DrawList.h.

std::string DrawList::_baseFileName = "../resources/"

private

Definition at line 288 of file DrawList.h.

std::vector<BoxInfo> DrawList::_box_list

private

Definition at line 308 of file DrawList.h.

Vec3<double> DrawList::_cameraOrigin

private

Definition at line 315 of file DrawList.h.

size_t DrawList::_cheetah3LoadIndex = 0

private

Definition at line 317 of file DrawList.h.

std::vector<std::vector<float> > DrawList::_colorData

private

Definition at line 285 of file DrawList.h.

std::vector<std::vector<double> > DrawList::_cp_force

private

Definition at line 307 of file DrawList.h.

std::vector<std::vector<double> > DrawList::_cp_pos

private

Definition at line 306 of file DrawList.h.

std::vector<bool> DrawList::_cp_touch

private

Definition at line 305 of file DrawList.h.

size_t DrawList::_cubeLoadIndex = 0

private

Definition at line 318 of file DrawList.h.

std::vector<size_t> DrawList::_glArrayOffsets

private

Definition at line 292 of file DrawList.h.

std::vector<size_t> DrawList::_glArraySizes

private

Definition at line 293 of file DrawList.h.

std::vector<float> DrawList::_glColorData

private

Definition at line 297 of file DrawList.h.

std::vector<float> DrawList::_glNormalData

private

Definition at line 296 of file DrawList.h.

std::vector<float> DrawList::_glVertexData

private

Definition at line 295 of file DrawList.h.

double DrawList::_grid_size

private

Definition at line 310 of file DrawList.h.

DMat<double> DrawList::_height_map

private

Definition at line 312 of file DrawList.h.

Vec3<double> DrawList::_height_map_left_corner

private

Definition at line 311 of file DrawList.h.

double DrawList::_height_map_max

private

Definition at line 313 of file DrawList.h.

double DrawList::_height_map_min

private

Definition at line 313 of file DrawList.h.

vectorAligned<SolidColor> DrawList::_instanceColor

Definition at line 278 of file DrawList.h.

std::vector<QMatrix4x4> DrawList::_kinematicXform

Definition at line 279 of file DrawList.h.

size_t DrawList::_miniCheetahLoadIndex = 0

private

Definition at line 317 of file DrawList.h.

std::vector<QMatrix4x4> DrawList::_modelOffsets

private

Definition at line 299 of file DrawList.h.

std::vector<std::vector<float> > DrawList::_normalData

private

Definition at line 284 of file DrawList.h.

size_t DrawList::_nTotal = 0

private

Definition at line 282 of file DrawList.h.

size_t DrawList::_nTotalGC = 0

private

Definition at line 304 of file DrawList.h.

size_t DrawList::_nUnique = 0

private

Definition at line 282 of file DrawList.h.

std::vector<size_t> DrawList::_objectMap

private

Definition at line 290 of file DrawList.h.

vectorAligned<Mat4<float> > DrawList::_offsetXforms

private

Definition at line 287 of file DrawList.h.

bool DrawList::_reloadNeeded = false

private

Definition at line 301 of file DrawList.h.

size_t DrawList::_sphereLoadIndex = 0

private

Definition at line 318 of file DrawList.h.

std::vector<std::vector<float> > DrawList::_vertexData

private

Definition at line 283 of file DrawList.h.

VisualizationData* DrawList::_visualizationData

Definition at line 51 of file DrawList.h.

---

The documentation for this class was generated from the following files:

• DrawList.h
• DrawList.cpp