visualization_meshcat.h

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#ifndef EXOTICA_CORE_VISUALIZATION_MESHCAT_H_
#define EXOTICA_CORE_VISUALIZATION_MESHCAT_H_
 
#include <memory>
#include <zmq.hpp>
 
#include <exotica_core/scene.h>
#include <exotica_core/tools/uncopyable.h>
 
namespace exotica
{
class VisualizationMeshcat : public Uncopyable
{
public:
    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();
 
private:
    ScenePtr scene_ = std::make_shared<Scene>(nullptr);
 
    void ConnectZMQ();
    void SendZMQ(const std::string& data);
    std::string ReceiveZMQ();
    std::string RequestWebURL();
 
    template <typename T>
    void SendMsg(T msg);
 
    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_;
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_VISUALIZATION_MESHCAT_H_