raisim::ArticulatedSystemVisual

struct · #include <raisim/server/Visuals.hpp>

Visual-only articulated system (no physics) streamed by RaisimServer. Create with RaisimServer::addVisualArticulatedSystem(); the server owns it.

Constructors & destructor

ArticulatedSystemVisual

ArticulatedSystemVisual(const std::string &urdfFile)

Load the model. Normally called by RaisimServer::addVisualArticulatedSystem().

Parameters

Parameter	Description
urdfFile (in)	path to the model file, as accepted by the ArticulatedSystem constructor

~ArticulatedSystemVisual

~ArticulatedSystemVisual() = default

Public member functions

setColor

void setColor(double r, double g, double b, double a)

Parameters

Parameter	Description
r (in)	red value (max=1)
g (in)	green value (max=1)
b (in)	blue value (max=1)
a (in)	alpha value (max=1) set color. if the alpha value is 0, it uses the original color defined in the mesh file

setGeneralizedCoordinate

void setGeneralizedCoordinate(const Eigen::VectorXd &gc)

Parameters

Parameter	Description
gc (in)	the generalized coordinate (size ArticulatedSystem::getGeneralizedCoordinateDim()) set the configuration of the visualized articulated system

lockMutex

void lockMutex()

Lock this visual's mutex. The server holds it while serializing this visual, so lock it while modifying the visual from another thread. Same as lock().

lock

void lock()

Lock the mutex (BasicLockable interface for std::lock_guard / std::unique_lock).

try_lock

bool try_lock()

Returns true if the mutex was acquired without blocking (Lockable interface).

unlockMutex

void unlockMutex()

Unlock the mutex locked by lockMutex(). Same as unlock().

unlock

void unlock()

Unlock the mutex (BasicLockable interface).

Public attributes

color

raisim::Vec<4> color

Override color for the entire visualized system (RGBA).

obj

ArticulatedSystem obj

Articulated system used for visualization only.