interface for viewing a scene graph. More...

#include <SceneViewer.hpp>

Classes
struct	View

Public Types
typedef rw::core::Ptr< SceneViewer >	Ptr
	smart pointer type to this class

typedef boost::function< void(const rw::math::Vector3D<> &)>	PositionSelectedListener
	Defines a listener for position change events. More...

typedef rw::core::Event< PositionSelectedListener, const rw::math::Vector3D<> & >	PositionSelectedEvent
	Defines event for PositionChanged.

Public Member Functions
	SceneViewer ()
	Constructor.

virtual	~SceneViewer ()
	Destructor.

virtual SceneGraph::Ptr	getScene ()=0
	get the current scene graph

virtual const std::string &	getLogo () const =0
	get the logo that is displayed in the 3d scene

virtual void	setLogo (const std::string &string)=0
	set the logo that is displayed in the 3d scene

virtual rw::core::PropertyMap &	getPropertyMap ()=0
	get propertymap

virtual void	updateView ()=0
	Update the view.

virtual void	updateState (const rw::kinematics::State &state)=0
	Set a new state. More...

virtual void	setWorldNode (rw::graphics::GroupNode::Ptr wnode)=0
	Set the world group node. More...

virtual void	setWorkCellScene (rw::core::Ptr< class WorkCellScene > wcscene)
	Set the WorkCell scene. More...

virtual rw::graphics::GroupNode::Ptr	getWorldNode ()=0
	Get the world node. More...

virtual void	saveBufferToFile (const std::string &filename, const int fillR, const int fillG, const int fillB)=0
	Saves the current 3D view to disk as either jpg, bmp or png. More...

virtual SceneCamera::Ptr	getViewCamera ()=0
	Get the view camera. More...

virtual rw::math::Vector3D	getViewCenter ()=0
	Get the view center. More...

virtual DrawableNode::Ptr	pickDrawable (int x, int y)=0
	picks the drawable in the scene that intersects with the ray (x,y,-1) in camera coordinates. More...

virtual DrawableNode::Ptr	pickDrawable (SceneGraph::RenderInfo &info, int x, int y)=0
	picks the drawable in the scene that intersects with the ray (x,y,-1) in camera coordinates. More...

virtual View::Ptr	createView (const std::string &name, bool enableBackground=false)=0
	Create a new view. More...

virtual View::Ptr	getMainView ()=0
	Get the main view. More...

virtual void	destroyView (View::Ptr view)=0
	Destroy view. More...

virtual void	selectView (View::Ptr view)=0
	Select a view. More...

virtual View::Ptr	getCurrentView ()=0
	Get the currently selected view. More...

virtual std::vector< View::Ptr >	getViews ()=0
	Get all views. More...

virtual void	renderView (View::Ptr view)=0
	Render a view. More...

PositionSelectedEvent &	positionSelectedEvent ()
	Returns PositionChangedEvent object needed for subscription to and firing of event. More...

virtual void	setTransform (const rw::math::Transform3D<> &t3d)
	set the orientation of the view. The view will look in the positive direction of the z-axis, with x-axis as the width and the y-axis as the height. Origin of view is in the center of the image. More...

virtual rw::math::Transform3D	getTransform ()
	get the current rotation of the view More...

virtual void	zoom (double amount)=0
	Move the camera along its z-axis. More...

virtual void	autoZoom ()=0
	Automatically fits all frames inside the viewport by moving camera in its z-axis.

Protected Attributes
PositionSelectedEvent	_positionSelectedEvent
	Event for selection of a position.

rw::core::Ptr< class WorkCellScene >	_wcscene
	The WorkCell scene.

Detailed Description

interface for viewing a scene graph.

The scene graph viewer

Member Typedef Documentation

◆ PositionSelectedListener

typedef boost::function<void(const rw::math::Vector3D<>&)> PositionSelectedListener

Defines a listener for position change events.

These listeners are called when user has selected a point in the 3D view.

To send an event double clicking left mouse button on the point of interest while pressing shift.

Example use in a plugin: See RobWorkStudio::StateChangedListener

Member Function Documentation

◆ createView()

virtual View::Ptr createView	(	const std::string &	name,
		bool	enableBackground = `false`
	)

pure virtual

Create a new view.

Parameters

name	[in] name of view.
enableBackground	[in] (optional) enable the background. Default is false.

Returns: the new view.

Implemented in SceneOpenGLViewer.

◆ destroyView()

virtual void destroyView ( View::Ptr view )

pure virtual

Destroy view.

Parameters

view	[in] the view to destroy.

◆ getCurrentView()

virtual View::Ptr getCurrentView ( )

pure virtual

Get the currently selected view.

Returns: the view.

Implemented in SceneOpenGLViewer.

◆ getMainView()

virtual View::Ptr getMainView ( )

pure virtual

Get the main view.

Returns: main view.

Implemented in SceneOpenGLViewer.

◆ getTransform()

virtual rw::math::Transform3D getTransform ( )

inlinevirtual

get the current rotation of the view

Returns: orientation of the view

◆ getViewCamera()

virtual SceneCamera::Ptr getViewCamera ( )

pure virtual

Get the view camera.

Returns: a scene camera.

Implemented in SceneOpenGLViewer.

◆ getViewCenter()

virtual rw::math::Vector3D getViewCenter ( )

pure virtual

Get the view center.

Returns: the center.

Implemented in SceneOpenGLViewer.

◆ getViews()

virtual std::vector<View::Ptr> getViews ( )

pure virtual

Get all views.

Returns: the views.

Implemented in SceneOpenGLViewer.

◆ getWorldNode()

virtual rw::graphics::GroupNode::Ptr getWorldNode ( )

pure virtual

Get the world node.

Returns: the world node.

Implemented in SceneOpenGLViewer.

◆ pickDrawable() [1/2]

virtual DrawableNode::Ptr pickDrawable	(	int	x,
		int	y
	)

pure virtual

picks the drawable in the scene that intersects with the ray (x,y,-1) in camera coordinates.

Parameters

x	[in] first camera coordinate.
y	[in] second camera coordinate.

Returns: the picked drawable.

Implemented in SceneOpenGLViewer.

◆ pickDrawable() [2/2]

virtual DrawableNode::Ptr pickDrawable	(	SceneGraph::RenderInfo &	info,
		int	x,
		int	y
	)

pure virtual

picks the drawable in the scene that intersects with the ray (x,y,-1) in camera coordinates.

Parameters

info	[in] rendering information.
x	[in] first camera coordinate.
y	[in] second camera coordinate.

Returns: the picked drawable.

Implemented in SceneOpenGLViewer.

◆ positionSelectedEvent()

PositionSelectedEvent& positionSelectedEvent ( )

inline

Returns PositionChangedEvent object needed for subscription to and firing of event.

Returns: REference to the PositionSelectedEvent

◆ renderView()

virtual void renderView ( View::Ptr view )

pure virtual

Render a view.

Parameters

view	[in] the view to render

◆ saveBufferToFile()

virtual void saveBufferToFile	(	const std::string &	filename,
		const int	fillR,
		const int	fillG,
		const int	fillB
	)

pure virtual

Saves the current 3D view to disk as either jpg, bmp or png.

If failing a std::string is thrown with a detailed description of what when wrong.

Parameters

filename	[in] Path and name of the file. The filename extension should be either ".jpg", ".bmp" or ".png" to specify which format to use.
fillR	[in] Fill color if viewport is smaller than image, red component [0,255]
fillG	[in] Fill color if viewport is smaller than image, green component [0,255]
fillB	[in] Fill color if viewport is smaller than image, blue component [0,255]

Implemented in SceneOpenGLViewer.

◆ selectView()

virtual void selectView ( View::Ptr view )

pure virtual

Select a view.

Parameters

view	[in] the view to select.

◆ setTransform()

virtual void setTransform ( const rw::math::Transform3D<> & t3d )

inlinevirtual

set the orientation of the view. The view will look in the positive direction of the z-axis, with x-axis as the width and the y-axis as the height. Origin of view is in the center of the image.

Parameters

t3d	[in] transform relative to world

Reimplemented in SceneOpenGLViewer.

◆ setWorkCellScene()

virtual void setWorkCellScene ( rw::core::Ptr< class WorkCellScene > wcscene )

inlinevirtual

Set the WorkCell scene.

Parameters

wcscene [in] the workcell scene.

Reimplemented in SceneOpenGLViewer.

◆ setWorldNode()

virtual void setWorldNode ( rw::graphics::GroupNode::Ptr wnode )

pure virtual

Set the world group node.

Parameters

wnode [in] the world node.

Implemented in SceneOpenGLViewer.

◆ updateState()

virtual void updateState ( const rw::kinematics::State & state )

pure virtual

Set a new state.

Parameters

state [in] new state.

Implemented in SceneOpenGLViewer.

◆ zoom()

virtual void zoom ( double amount )

pure virtual

Move the camera along its z-axis.

Parameters

amount [in] the amount of zoom.

Implemented in SceneOpenGLViewer.

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

SceneViewer.hpp

Classes

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ PositionSelectedListener

Member Function Documentation

◆ createView()

◆ destroyView()

◆ getCurrentView()

◆ getMainView()

◆ getTransform()

◆ getViewCamera()

◆ getViewCenter()

◆ getViews()

◆ getWorldNode()

◆ pickDrawable() [1/2]

◆ pickDrawable() [2/2]

◆ positionSelectedEvent()

◆ renderView()

◆ saveBufferToFile()

◆ selectView()

◆ setTransform()

◆ setWorkCellScene()

◆ setWorldNode()

◆ updateState()

◆ zoom()