4 #include <KrisLibrary/GLdraw/GLColor.h> 5 #include <KrisLibrary/GLdraw/GLDisplayList.h> 6 #include <KrisLibrary/GLdraw/GeometryAppearance.h> 7 #include <Klampt/Modeling/Robot.h> 24 void DrawCenterOfMass(Real radius = 0.05);
25 void DrawLinkCenterOfMass(
int i,Real radius = 0.05);
26 void DrawLinkFrames(Real size = 0.1);
27 void DrawLinkSkeleton();
28 void DrawTorques(
const Vector& t);
29 void SetColors(
const GLDraw::GLColor& c);
30 void SetColor(
int i,
const GLDraw::GLColor& c);
32 void SetTorqueColors(
const Vector& t);
34 GLDraw::GeometryAppearance&
Appearance(
int link);
44 void SetAppearance(
const vector<GLDraw::GeometryAppearance>& );
47 vector< vector<GLDraw::GeometryAppearance> > appearanceStack;
The main robot type used in RobotSim.
Definition: Robot.h:79
void SetAppearance(const vector< GLDraw::GeometryAppearance > &)
easy way to save/restore appearance
void DrawLink_World(int i, bool keepAppearance=true)
draws link i's geometry in the world frame
Draws the robot (potentially color-coded)
Definition: ViewRobot.h:12
void Draw()
Draws the whole robot.
vector< GLDraw::GeometryAppearance > GetAppearance()
easy way to save/restore appearance
void PopAppearance()
pops the last active appearance
void PushAppearance()
pushes a new active appearance
void DrawLink_Local(int i, bool keepAppearance=true)
draws link i's geometry in its local frame
GLDraw::GeometryAppearance & Appearance(int link)
gets the currently active appearance
void RestoreAppearance()
restores the base appearance