raisim::Visuals

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

Derived by: raisim::VisualMesh

Visual-only primitive (sphere, box, cylinder, capsule, arrow or mesh) streamed by RaisimServer. Create with RaisimServer::addVisualSphere() and friends; the server owns it.

Public member functions

setSphereSize

void setSphereSize(double radius)

Parameters

Parameter	Description
radius (in)	the raidus of the sphere. set size of the sphere.

setBoxSize

void setBoxSize(double x, double y, double z)

Parameters

Parameter	Description
x (in)	length.
y (in)	width.
z (in)	height. set size of the box.

setCylinderSize

void setCylinderSize(double radius, double height)

Parameters

Parameter	Description
radius (in)	the raidus of the cylinder.
height (in)	the height of the cylinder. set size of the cylinder.

setCapsuleSize

void setCapsuleSize(double radius, double height)

Parameters

Parameter	Description
radius (in)	the raidus of the capsule.
height (in)	the height of the capsule. set size of the capsule.

setPosition

void setPosition(double x, double y, double z)

Parameters

Parameter	Description
x (in)	x coordinate of the visual object.
y (in)	y coordinate of the visual object.
z (in)	z coordinate of the visual object. set the position of the visual object.

void setPosition(const Eigen::Vector3d &pos)

Parameters

Parameter	Description
pos (in)	position of the visual object in Eigen::Vector3d. set the position of the visual object.

setOrientation

void setOrientation(double w, double x, double y, double z)

Parameters

Parameter	Description
w (in)	scalar part of the unit quaternion.
x (in)	x component of the quaternion vector part.
y (in)	y component of the quaternion vector part.
z (in)	z component of the quaternion vector part. set the orientation of the visual object.

void setOrientation(const Eigen::Vector4d &ori)

Parameters

Parameter	Description
ori (in)	unit quaternion (w, x, y, z) of the visual object. set the orientation of the visual object.

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 visual object.

getPosition

Eigen::Vector3d getPosition()

Returns the position of the visual object. get the position of the visual object.

getOrientation

Eigen::Vector4d getOrientation()

Returns the orientation of the visual object as a quaternion (w, x, y, z).

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

type

Shape::Type type

Visual geometry type.

name

std::string name

Visual name for lookup in the server.

material

std::string material

Material name. Currently not transmitted to the visualizer.

glow

bool glow

Enable emissive glow. Currently not transmitted to the visualizer.

shadow

bool shadow

Enable shadow casting. Currently not transmitted to the visualizer.

color

Vec<4> color

RGBA color (0-1 range).

size

Vec<4> size

Size parameters for the selected shape type: sphere {radius}, box {x, y, z lengths}, cylinder/capsule {radius, length}, arrow {radius, length}, mesh {x, y, z scale}.