RWStudioView3D Class Reference

This class adds RobWorkStudio specific functionality to a WorkCellViewer. More...

#include <RWStudioView3D.hpp>

Inherits QWidget.

Public Types
typedef rw::core::Ptr< RWStudioView3D >	Ptr
	Smart pointer type for RWStudioView3D.

Public Member Functions
	RWStudioView3D (RobWorkStudio *rwStudio, QWidget *parent)
	Constructs an OpenGL based QT Widget. More...
virtual	~RWStudioView3D ()
	Destructor.
void	setSceneViewerWidget (SceneViewerWidget *viewer)
	Set the widget used for visualization of the scene. More...
void	showPivotPoint (bool visible)
	Specified whether to visualize the pivot point. More...
void	setDrawType (rw::graphics::DrawableNode::DrawType drawType)
	Sets whether to visualize as SOLID, WIRE or BOTH. More...
void	setupGUI (QMainWindow *mainwindow)
	sets up the More...
rw::kinematics::Frame *	pickFrame (int x, int y)
	picks the frame that has drawables that intersect the ray cast into the screen from the screen coordinates x and y. More...
rw::graphics::DrawableNode::Ptr	pick (int x, int y)
	picks a drawable in the scene. More...
void	update ()
	updates the 3d view
void	setState (const rw::kinematics::State &state)
	set the state of the view More...
rw::core::PropertyMap &	getPropertyMap ()
	get propertymap More...
rw::graphics::WorkCellScene::Ptr	getWorkCellScene ()
	Get the scene. More...
rw::graphics::SceneViewer::Ptr	getSceneViewer ()
	Get the scene viewer. More...
void	setWorkCell (rw::core::Ptr< rw::models::WorkCell > workcell)
	Set the workcell. More...
void	clear ()
	Clear the view.
void	saveBufferToFile (const QString &filename, const int fillR=0, const int fillG=0, const int fillB=0)
	Saves the current 3D view to disk as either jpg, bmp or png. More...
void	keyPressEvent (QKeyEvent *e)
	Handle key press events. More...
void	mouseDoubleClickEvent (QMouseEvent *event)
	Handle double mouse click events. More...
int	getDrawMask ()
	get current draw mask

Detailed Description

This class adds RobWorkStudio specific functionality to a WorkCellViewer.

specifically:

• optional collision detection and highlighting of frames

Constructor & Destructor Documentation

RWStudioView3D()

RWStudioView3D	(	RobWorkStudio *	rwStudio,
		QWidget *	parent
	)

Constructs an OpenGL based QT Widget.

Parameters

rwStudio	[in] RobWorkStudio
parent	[in] Parent widget

Member Function Documentation

getPropertyMap()

rw::core::PropertyMap& getPropertyMap ( )

inline

get propertymap

Returns

propertymap

getSceneViewer()

rw::graphics::SceneViewer::Ptr getSceneViewer ( )

inline

Get the scene viewer.

Returns

the scene viewer.

getWorkCellScene()

rw::graphics::WorkCellScene::Ptr getWorkCellScene ( )

inline

Get the scene.

Returns

the scene.

keyPressEvent()

void keyPressEvent

(

QKeyEvent *

e

)

Handle key press events.

The following is supported:

Keys	Function
CTRL+G	Save current view to file (file dialog is opened)
CTRL+Left	Switch to previous scene camera
CTRL+Right	Switch to next scene camera
CTRL+1...9	Switch to scene camera number n

Parameters

e	[in] the event.

mouseDoubleClickEvent()

void mouseDoubleClickEvent

(

QMouseEvent *

event

)

Handle double mouse click events.

If CTRL key is pressed while double clicking the left mouse button, a frame can be selected.

Parameters

event

[in] the event.

pick()

rw::graphics::DrawableNode::Ptr pick	(	int	x,
		int	y
	)

picks a drawable in the scene.

Parameters

x	[in] x coordinate
y	[in] y coordinate

Returns

the drawable that was selected, Null if no frames where selected.

pickFrame()

rw::kinematics::Frame* pickFrame	(	int	x,
		int	y
	)

picks the frame that has drawables that intersect the ray cast into the screen from the screen coordinates x and y.

Parameters

x	[in] x coordinate
y	[in] y coordinate

Returns

the frame that was selected, Null if no frames where selected.

saveBufferToFile()

void saveBufferToFile ( const QString &  filename, const int  fillR = 0, const int  fillG = 0, const int  fillB = 0  )

inline

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]

setDrawType()

void setDrawType

(

rw::graphics::DrawableNode::DrawType

drawType

)

Sets whether to visualize as SOLID, WIRE or BOTH.

Parameters

drawType

[in] The drawtype to use

setSceneViewerWidget()

void setSceneViewerWidget

(

SceneViewerWidget *

viewer

)

Set the widget used for visualization of the scene.

Parameters

viewer

[in] the widget for visualization of the scene.

setState()

void setState

(

const rw::kinematics::State &

state

)

set the state of the view

Parameters

state

[in] new state to be rendered

setupGUI()

void setupGUI

(

QMainWindow *

mainwindow

)

sets up the

Parameters

mainwindow

setWorkCell()

void setWorkCell

(

rw::core::Ptr< rw::models::WorkCell >

workcell

)

Set the workcell.

Parameters

workcell

[in] the workcell.

showPivotPoint()

void showPivotPoint

(

bool

visible

)

Specified whether to visualize the pivot point.

Parameters

visible

[in] True for showing pivot point, false otherwise.

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

• RWStudioView3D.hpp