1 #ifndef INTERFACE_ROBOTPOSEGUI_H 2 #define INTERFACE_ROBOTPOSEGUI_H 4 #include "ResourceGUI.h" 6 #include "View/ObjectPoseWidget.h" 7 #include "Sensing/Sensor.h" 8 #include <KrisLibrary/utils/apputils.h> 14 #define GLUT_LEFT_BUTTON 0 15 #define GLUT_MIDDLE_BUTTON 1 16 #define GLUT_RIGHT_BUTTON 2 70 AppUtils::ProgramSettings settings;
72 int cur_link,cur_driver;
73 vector<bool> self_colliding, env_colliding;
76 vector<RobotPoseWidget> robotWidgets;
77 vector<RigidObjectPoseWidget> objectWidgets;
79 GLDraw::Widget* lastActiveWidget;
80 int draw_geom,draw_poser,draw_bbs,draw_com,draw_frame,draw_sensors;
87 virtual void RenderWorld();
88 virtual bool OnButtonPress(
const string& button);
89 virtual bool OnButtonToggle(
const string& button,
int checked);
90 virtual bool OnCommand(
const string& cmd,
const string& args);
91 virtual void DoPassiveMouseMove(
int x,
int y);
92 virtual void BeginDrag(
int x,
int y,
int button,
int modifiers);
93 virtual void EndDrag(
int x,
int y,
int button,
int modifiers);
94 virtual void DoFreeDrag(
int dx,
int dy,
int button);
95 void SetDrawExpanded(
int value);
98 Stance GetNearbyStance(Real tolerance=0);
99 void CleanContacts(
Hold&,Real xtol=0,Real ntol=0);
100 ResourcePtr PoserToResource(
const string& type);
105 #endif //INTERFACE_ROBOTPOSEGUI_H A single contact between the robot and the environment.
Definition: Hold.h:26
The main robot type used in RobotSim.
Definition: Robot.h:79
A backend for resource browsing. Natively supports configs, paths, transforms, ik goals...
Definition: ResourceGUI.h:41
A collection of holds.
Definition: Stance.h:19
The main world class containing multiple robots, objects, and static geometries (terrains). Lights and other viewport information may also be stored here.
Definition: World.h:20
A set of sensors for the robot.
Definition: Sensor.h:106
Contains the functionality for the RobotPose program.
Definition: RobotPoseGUI.h:67