Exotica
Public Member Functions | Private Member Functions | Private Attributes | List of all members
exotica::VisualizationMeshcat Class Reference

#include <visualization_meshcat.h>

Inheritance diagram for exotica::VisualizationMeshcat:
Inheritance graph
Collaboration diagram for exotica::VisualizationMeshcat:
Collaboration graph

Public Member Functions

 VisualizationMeshcat (ScenePtr scene, const std::string &url, bool use_mesh_materials=true, const std::string &file_url="")
 
virtual ~VisualizationMeshcat ()
 
void Initialize (bool use_mesh_materials)
 
void DisplayScene (bool use_mesh_materials=true)
 
void DisplayState (Eigen::VectorXdRefConst state, double t=0.0)
 
void DisplayTrajectory (Eigen::MatrixXdRefConst trajectory, double dt=1.0)
 
void Delete (const std::string &path="")
 
void SetProperty (const std::string &path, const std::string &property, const double &value)
 
void SetProperty (const std::string &path, const std::string &property, const std::string &value)
 
void SetProperty (const std::string &path, const std::string &property, const bool &value)
 
void SetProperty (const std::string &path, const std::string &property, const Eigen::Vector3d &value)
 
void SetProperty (const std::string &path, const std::string &property, const Eigen::Vector4d &value)
 
std::string GetWebURL ()
 
std::string GetFileURL ()
 
- Public Member Functions inherited from exotica::Uncopyable
 Uncopyable ()=default
 
 ~Uncopyable ()=default
 

Private Member Functions

void ConnectZMQ ()
 
void SendZMQ (const std::string &data)
 
std::string ReceiveZMQ ()
 
std::string RequestWebURL ()
 
template<typename T >
void SendMsg (T msg)
 

Private Attributes

ScenePtr scene_ = std::make_shared<Scene>(nullptr)
 
std::string zmq_url_
 
std::string web_url_
 
std::string file_url_
 
std::string path_prefix_
 
zmq::context_t context_
 
std::unique_ptr< zmq::socket_t > socket_
 

Constructor & Destructor Documentation

◆ VisualizationMeshcat()

exotica::VisualizationMeshcat::VisualizationMeshcat ( ScenePtr  scene,
const std::string &  url,
bool  use_mesh_materials = true,
const std::string &  file_url = "" 
)

◆ ~VisualizationMeshcat()

virtual exotica::VisualizationMeshcat::~VisualizationMeshcat ( )
virtual

Member Function Documentation

◆ ConnectZMQ()

void exotica::VisualizationMeshcat::ConnectZMQ ( )
private

◆ Delete()

void exotica::VisualizationMeshcat::Delete ( const std::string &  path = "")

◆ DisplayScene()

void exotica::VisualizationMeshcat::DisplayScene ( bool  use_mesh_materials = true)

◆ DisplayState()

void exotica::VisualizationMeshcat::DisplayState ( Eigen::VectorXdRefConst  state,
double  t = 0.0 
)

◆ DisplayTrajectory()

void exotica::VisualizationMeshcat::DisplayTrajectory ( Eigen::MatrixXdRefConst  trajectory,
double  dt = 1.0 
)

◆ GetFileURL()

std::string exotica::VisualizationMeshcat::GetFileURL ( )

◆ GetWebURL()

std::string exotica::VisualizationMeshcat::GetWebURL ( )

◆ Initialize()

void exotica::VisualizationMeshcat::Initialize ( bool  use_mesh_materials)

◆ ReceiveZMQ()

std::string exotica::VisualizationMeshcat::ReceiveZMQ ( )
private

◆ RequestWebURL()

std::string exotica::VisualizationMeshcat::RequestWebURL ( )
private

◆ SendMsg()

template<typename T >
void exotica::VisualizationMeshcat::SendMsg ( msg)
private

◆ SendZMQ()

void exotica::VisualizationMeshcat::SendZMQ ( const std::string &  data)
private

◆ SetProperty() [1/5]

void exotica::VisualizationMeshcat::SetProperty ( const std::string &  path,
const std::string &  property,
const bool &  value 
)

◆ SetProperty() [2/5]

void exotica::VisualizationMeshcat::SetProperty ( const std::string &  path,
const std::string &  property,
const double &  value 
)

◆ SetProperty() [3/5]

void exotica::VisualizationMeshcat::SetProperty ( const std::string &  path,
const std::string &  property,
const Eigen::Vector3d &  value 
)

◆ SetProperty() [4/5]

void exotica::VisualizationMeshcat::SetProperty ( const std::string &  path,
const std::string &  property,
const Eigen::Vector4d &  value 
)

◆ SetProperty() [5/5]

void exotica::VisualizationMeshcat::SetProperty ( const std::string &  path,
const std::string &  property,
const std::string &  value 
)

Member Data Documentation

◆ context_

zmq::context_t exotica::VisualizationMeshcat::context_
private

◆ file_url_

std::string exotica::VisualizationMeshcat::file_url_
private

◆ path_prefix_

std::string exotica::VisualizationMeshcat::path_prefix_
private

◆ scene_

ScenePtr exotica::VisualizationMeshcat::scene_ = std::make_shared<Scene>(nullptr)
private

◆ socket_

std::unique_ptr<zmq::socket_t> exotica::VisualizationMeshcat::socket_
private

◆ web_url_

std::string exotica::VisualizationMeshcat::web_url_
private

◆ zmq_url_

std::string exotica::VisualizationMeshcat::zmq_url_
private

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