raisim::PolyLine

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

Visual-only polyline streamed by RaisimServer. Consecutive points are connected by straight segments of thickness width. Create with RaisimServer::addVisualPolyLine(); the server owns it.

Public member functions

setColor

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

Parameters

Parameter	Description
r (in)	red value of the color (max=1).
g (in)	green value of the color (max=1).
b (in)	blue value of the color (max=1).
a (in)	alpha value of the color (max=1). set the color of the polyline.

addPoint

void addPoint(const Eigen::Vector3d &point)

Parameters

Parameter	Description
point (in)	new polyline point. append a new point to the polyline.

clearPoints

void clearPoints()

clear all polyline points.

lockMutex

void lockMutex()

Lock this polyline's mutex. The server holds it while serializing this polyline, so lock it while modifying the polyline 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

name

std::string name

Polyline name for lookup in the server.

color

Vec<4> color

RGBA color (0-1 range).

points

std::vector<Vec<3>> points

Ordered polyline points in world coordinates.

width

double width

Polyline width in meters.