Klamp't  0.8.1
ViewIK.h
1 #ifndef VIEW_IK_H
2 #define VIEW_IK_H
3 
4 #include <KrisLibrary/robotics/IK.h>
5 #include "ViewRobot.h"
6 
7 struct ViewIKGoal
8 {
9  ViewIKGoal();
10  //draws lines to the desired location
11  void Draw(const IKGoal& goal,Robot& robot);
12  //draws the link of the robot at the desired location
13  void DrawLink(const IKGoal& goal,ViewRobot& robotviewer);
14  void DrawLink(const IKGoal& goal,ViewRobot& robotviewer,const Matrix3& refMatrix);
15 
16  GLDraw::GLColor lineColor;
17  GLDraw::GLColor linkColor;
18  Real widgetSize;
19 };
20 
21 #endif
The main robot type used in RobotSim.
Definition: Robot.h:79
Definition: ViewIK.h:7
Draws the robot (potentially color-coded)
Definition: ViewRobot.h:12