Open Scene Graph GUI for DART visualization. More...

#include <gui.h>

Inheritance diagram for robowflex::darts::Window:

Classes
struct	DnDReturn
	Return from creating a movable frame. More...

struct	InteractiveOptions
	Options for creating an interactive marker. More...

struct	InteractiveReturn
	Return from creating an interactive marker. More...

Public Member Functions
	Window (const WorldPtr &world)
	Constructor. More...

void	customPreRefresh () override

void	customPostRefresh () override

void	run (std::function< void()> thread={})
	Run the GUI. Blocks. More...

WindowWidgetPtr	getWidget ()
	Get the IMGUI configurable widget. More...

void	addWidget (const WidgetPtr &widget)
	Add a new IMGUI widget. More...

WorldPtr	getWorld ()
	Get world used for visualization. More...

const WorldPtr &	getWorldConst () const
	Get world used for visualization. More...

Animation
void	animatePath (const StateSpacePtr &space, const ompl::geometric::PathGeometric &path, std::size_t times=1, double fps=60, bool block=true)
	Animate a motion plan using the world. More...

void	animatePath (const PlanBuilder &builder, const ompl::geometric::PathGeometric &path, std::size_t times=1, double fps=60, bool block=true)
	Animate a motion plan using the world. This version of the call will automatically visualize either constrained or unconstrained paths. More...

Private Attributes
friend	TSREditWidget

WorldPtr	world_
	World to visualize. More...

WindowWidgetPtr	widget_
	IMGUI widget. More...

std::vector< WidgetPtr >	widgets_
	Other widgets;. More...

std::shared_ptr< std::thread >	animation_ {nullptr}
	Animation thread. More...

::osg::ref_ptr< Window >	node_
	OSG Node. More...

Viewer	viewer_
	Viewer. More...

GUI Interaction
using	InteractiveCallback = std::function< void(const dart::gui::osg::InteractiveFrame *)>
	Callback function on an interactive frame moving. More...

using	DnDCallback = std::function< void(const dart::dynamics::BodyNode *)>
	Callback function on a drag 'n drop frame moving. More...

InteractiveReturn	createInteractiveMarker (const InteractiveOptions &options)
	Create a new interactive marker in the GUI. More...

DnDReturn	enableNodeDragNDrop (dart::dynamics::BodyNode *node, const DnDCallback &callback={})
	Enable drag 'n drop functionality on a body node being visualized. With DnD, the body node will automatically use IK to move wherever dragged. More...

Detailed Description

Open Scene Graph GUI for DART visualization.

Definition at line 66 of file gui.h.

Member Typedef Documentation

◆ DnDCallback

using robowflex::darts::Window::DnDCallback = std::function<void(const dart::dynamics::BodyNode *)>

Callback function on a drag 'n drop frame moving.

Definition at line 135 of file gui.h.

◆ InteractiveCallback

using robowflex::darts::Window::InteractiveCallback = std::function<void(const dart::gui::osg::InteractiveFrame *)>

Callback function on an interactive frame moving.

Definition at line 83 of file gui.h.

Constructor & Destructor Documentation

◆ Window()

Window::Window ( const WorldPtr & world )

Constructor.

Parameters

[in] world World to visualize.

Definition at line 76 of file gui.cpp.

   : dart::gui::osg::WorldNode(world->getSim()), world_(world), viewer_(world)
 {
     node_ = this;
     viewer_.addWorldNode(node_);
     viewer_.setUpViewInWindow(0, 0, 1080, 720);
     auto *cm = viewer_.getCameraManipulator();
     cm->setHomePosition(                //
         ::osg::Vec3(5.00, 5.00, 2.00),  //
         ::osg::Vec3(0.00, 0.00, 0.00),  //
         ::osg::Vec3(-0.24, -0.25, 0.94));
     viewer_.setCameraManipulator(cm);
     viewer_.setVerticalFieldOfView(15);
  
     widget_ = std::make_shared<WindowWidget>();
     addWidget(widget_);
 }

Member Function Documentation

◆ addWidget()

void Window::addWidget ( const WidgetPtr & widget )

Add a new IMGUI widget.

Parameters

[in] widget Widget to add.

Definition at line 106 of file gui.cpp.

 {
     widgets_.emplace_back(widget);
     widget->initialize(const_cast<Window *>(this));
     viewer_.getImGuiHandler()->addWidget(widget);
 }

◆ animatePath() [1/2]

void Window::animatePath	(	const PlanBuilder &	builder,
		const ompl::geometric::PathGeometric &	path,
		std::size_t	times = `1`,
		double	fps = `60`,
		bool	block = `true`
	)

Animate a motion plan using the world. This version of the call will automatically visualize either constrained or unconstrained paths.

Parameters

[in]	builder	Plan builder structure.
[in]	path	The plan to visualize.
[in]	times	Number of times to loop through animation.
[in]	fps	Update rate.
[in]	block	If true, blocks until animation is done. Otherwise, immediately returns.

Definition at line 206 of file gui.cpp.

 {
     ompl::geometric::PathGeometric extract(builder.rinfo);
     for (std::size_t i = 0; i < path.getStateCount(); ++i)
         extract.append(builder.toStateConst(path.getState(i)));
  
     animatePath(builder.rspace, extract, times, fps, block);
 }

◆ animatePath() [2/2]

void Window::animatePath	(	const StateSpacePtr &	space,
		const ompl::geometric::PathGeometric &	path,
		std::size_t	times = `1`,
		double	fps = `60`,
		bool	block = `true`
	)

Animate a motion plan using the world.

Parameters

[in]	space	State space of the plan.
[in]	path	The plan to visualize.
[in]	times	Number of times to loop through animation.
[in]	fps	Update rate.
[in]	block	If true, blocks until animation is done. Otherwise, immediately returns.

Definition at line 160 of file gui.cpp.

 {
     bool active = true;
  
     std::mutex m;
     std::condition_variable cv;
  
     if (animation_)
     {
         animation_->join();
         animation_.reset();
     }
     auto thread = std::make_shared<std::thread>([&] {
         std::size_t n = path.getStateCount();
         std::size_t i = times;
  
         std::unique_lock<std::mutex> lk(m);
         while ((times == 0) ? true : i--)
         {
             space->setWorldState(world_, path.getState(0));
             std::this_thread::sleep_for(std::chrono::milliseconds(1000));
  
             for (std::size_t j = 0; j < n; ++j)
             {
                 space->setWorldState(world_, path.getState(j));
  
                 std::this_thread::sleep_for(std::chrono::milliseconds((unsigned int)(1000 / fps)));
             }
  
             std::this_thread::sleep_for(std::chrono::milliseconds(1000));
         }
  
         active = false;
         cv.notify_one();
     });
  
     animation_ = thread;
  
     if (block)
     {
         std::unique_lock<std::mutex> lk(m);
         cv.wait(lk, [&] { return not active; });
     }
 }

◆ createInteractiveMarker()

Window::InteractiveReturn Window::createInteractiveMarker ( const InteractiveOptions & options )

Create a new interactive marker in the GUI.

Parameters

[in] options Options for creating marker.

Returns: The new marker.

Definition at line 113 of file gui.cpp.

 {
     InteractiveReturn r;
     r.target = std::make_shared<dart::gui::osg::InteractiveFrame>(  //
         options.parent, options.name, options.pose, options.size, options.thickness);
     world_->getSim()->addSimpleFrame(r.target);
  
     for (std::size_t i = 0; i < 3; ++i)
     {
         auto *lt = r.target->getTool(dart::gui::osg::InteractiveTool::Type::LINEAR, i);
         lt->setEnabled(options.linear[i]);
         auto *rt = r.target->getTool(dart::gui::osg::InteractiveTool::Type::ANGULAR, i);
         rt->setEnabled(options.rotation[i]);
         auto *pt = r.target->getTool(dart::gui::osg::InteractiveTool::Type::PLANAR, i);
         pt->setEnabled(options.planar[i]);
     }
  
     r.dnd = viewer_.enableDragAndDrop(r.target.get());
     r.dnd->setObstructable(options.obstructable);
  
     auto callback = options.callback;
     r.signal = r.target->onTransformUpdated.connect([callback](const dart::dynamics::Entity *entity) {
         if (entity)
         {
             const auto *cast = dynamic_cast<const dart::gui::osg::InteractiveFrame *>(entity);
             if (cast and callback)
                 callback(cast);
         }
     });
  
     return r;
 }

◆ customPostRefresh()

void Window::customPostRefresh ( )

override

Definition at line 101 of file gui.cpp.

 {
     // world_->unlock();
 }

◆ customPreRefresh()

void Window::customPreRefresh ( )

override

Definition at line 94 of file gui.cpp.

 {
     // world_->lock();
     for (const auto &widget : widgets_)
         widget->prerefresh();
 }

◆ enableNodeDragNDrop()

Window::DnDReturn Window::enableNodeDragNDrop	(	dart::dynamics::BodyNode *	node,
		const DnDCallback &	callback = `{}`
	)

Enable drag 'n drop functionality on a body node being visualized. With DnD, the body node will automatically use IK to move wherever dragged.

Parameters

[in]	node	Node to enable Drag 'n Drop on.
[in]	callback	Callback function to call when node is dragged.

Returns: The new drag 'n drop node.

Definition at line 146 of file gui.cpp.

 {
     DnDReturn r;
     auto *dnd = viewer_.enableDragAndDrop(node, true, true);
     r.dnd = dnd;
  
     r.signal = node->onTransformUpdated.connect([dnd, callback](const dart::dynamics::Entity *entity) {
         if (dnd->isMoving())
             callback(dynamic_cast<const dart::dynamics::BodyNode *>(entity));
     });
  
     return r;
 }

◆ getWidget()

WindowWidgetPtr Window::getWidget ( )

Get the IMGUI configurable widget.

Definition at line 216 of file gui.cpp.

 {
     return widget_;
 }

◆ getWorld()

WorldPtr Window::getWorld ( )

Get world used for visualization.

Returns: World used by window.

Definition at line 221 of file gui.cpp.

 {
     return world_;
 }

◆ getWorldConst()

const WorldPtr & Window::getWorldConst ( ) const

Get world used for visualization.

Returns: World used by window.

Definition at line 226 of file gui.cpp.

 {
     return world_;
 }

◆ run()

void Window::run ( std::function< void()> thread = {} )

Run the GUI. Blocks.

Parameters

[in] thread Function to run in a separate thread from the GUI's visualization.

Definition at line 231 of file gui.cpp.

 {
     if (thread)
     {
         std::thread t(thread);
         viewer_.run();
     }
     else
         viewer_.run();
 }

Member Data Documentation

◆ animation_

std::shared_ptr<std::thread> robowflex::darts::Window::animation_ {nullptr}

private

Animation thread.

Definition at line 210 of file gui.h.

◆ node_

::osg::ref_ptr<Window> robowflex::darts::Window::node_

private

OSG Node.

Definition at line 212 of file gui.h.

◆ TSREditWidget

friend robowflex::darts::Window::TSREditWidget

private

Definition at line 68 of file gui.h.

◆ viewer_

Viewer robowflex::darts::Window::viewer_

private

Viewer.

Definition at line 213 of file gui.h.

◆ widget_

WindowWidgetPtr robowflex::darts::Window::widget_

private

IMGUI widget.

Definition at line 207 of file gui.h.

◆ widgets_

std::vector<WidgetPtr> robowflex::darts::Window::widgets_

private

Other widgets;.

Definition at line 208 of file gui.h.

◆ world_

WorldPtr robowflex::darts::Window::world_

private

World to visualize.

Definition at line 206 of file gui.h.

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

Classes

Public Member Functions

Private Attributes

GUI Interaction

Detailed Description

Member Typedef Documentation

◆ DnDCallback

◆ InteractiveCallback

Constructor & Destructor Documentation

◆ Window()

Member Function Documentation

◆ addWidget()

◆ animatePath() [1/2]

◆ animatePath() [2/2]

◆ createInteractiveMarker()

◆ customPostRefresh()

◆ customPreRefresh()

◆ enableNodeDragNDrop()

◆ getWidget()

◆ getWorld()

◆ getWorldConst()

◆ run()

Member Data Documentation

◆ animation_

◆ node_

◆ TSREditWidget

◆ viewer_

◆ widget_

◆ widgets_

◆ world_