pinocchio.visualize.base_visualizer.BaseVisualizer Class Reference

Inheritance diagram for pinocchio.visualize.base_visualizer.BaseVisualizer:

Public Member Functions
def	__init__ (self, model=pin.Model(), collision_model=None, visual_model=None, copy_models=False, data=None, collision_data=None, visual_data=None)
def	clean (self)
def	display (self, q=None)
def	displayCollisions (self, visibility)
def	displayVisuals (self, visibility)
def	getViewerNodeName (self, geometry_object, geometry_type)
def	initViewer (self, args, kwargs)
def	loadViewerModel (self, args, kwargs)
def	play (self, q_trajectory, dt)
def	rebuildData (self)
def	reload (self, new_geometry_object, geometry_type=None)

Public Attributes
	collision_data
	collision_model
	data
	model
	visual_data
	visual_model

Detailed Description

Pinocchio visualizers are employed to easily display a model at a given configuration.
BaseVisualizer is not meant to be directly employed, but only to provide a uniform interface and a few common methods.
New visualizers should extend this class and override its methods as neeeded.

Definition at line 6 of file base_visualizer.py.

Constructor & Destructor Documentation

def pinocchio.visualize.base_visualizer.BaseVisualizer.__init__	(		self,
			model = pin.Model(),
			collision_model = None,
			visual_model = None,
			copy_models = False,
			data = None,
			collision_data = None,
			visual_data = None
	)

Construct a display from the given model, collision model, and visual model.
If copy_models is True, the models are copied. Otherwise, they are simply kept as a reference.

Definition at line 12 of file base_visualizer.py.

Member Function Documentation

def pinocchio.visualize.base_visualizer.BaseVisualizer.clean

(

self

)

Delete all the objects from the whole scene 

Definition at line 61 of file base_visualizer.py.

def pinocchio.visualize.base_visualizer.BaseVisualizer.display	(		self,
			q = None
	)

Display the robot at configuration q or refresh the rendering
from the current placements contained in data by placing all the bodies in the viewer.

Definition at line 65 of file base_visualizer.py.

def pinocchio.visualize.base_visualizer.BaseVisualizer.displayCollisions	(		self,
			visibility
	)

Set whether to display collision objects or not.

Definition at line 70 of file base_visualizer.py.

def pinocchio.visualize.base_visualizer.BaseVisualizer.displayVisuals	(		self,
			visibility
	)

Set whether to display visual objects or not.

Definition at line 74 of file base_visualizer.py.

def pinocchio.visualize.base_visualizer.BaseVisualizer.getViewerNodeName	(		self,
			geometry_object,
			geometry_type
	)

Return the name of the geometry object inside the viewer.

Definition at line 45 of file base_visualizer.py.

def pinocchio.visualize.base_visualizer.BaseVisualizer.initViewer	(		self,
			args,
			kwargs
	)

Init the viewer by loading the gui and creating a window.

Definition at line 49 of file base_visualizer.py.

def pinocchio.visualize.base_visualizer.BaseVisualizer.loadViewerModel	(		self,
			args,
			kwargs
	)

Create the scene displaying the robot meshes in the viewer

Definition at line 53 of file base_visualizer.py.

def pinocchio.visualize.base_visualizer.BaseVisualizer.play	(		self,
			q_trajectory,
			dt
	)

Play a trajectory with given time step.

Definition at line 78 of file base_visualizer.py.

def pinocchio.visualize.base_visualizer.BaseVisualizer.rebuildData

(

self

)

Re-build the data objects. Needed if the models were modified.
Warning: this will delete any information stored in all data objects.

Definition at line 40 of file base_visualizer.py.

def pinocchio.visualize.base_visualizer.BaseVisualizer.reload	(		self,
			new_geometry_object,
			geometry_type = None
	)

Reload a geometry_object given by its type

Definition at line 57 of file base_visualizer.py.

Member Data Documentation

pinocchio.visualize.base_visualizer.BaseVisualizer.collision_data

Definition at line 31 of file base_visualizer.py.

pinocchio.visualize.base_visualizer.BaseVisualizer.collision_model

Definition at line 18 of file base_visualizer.py.

pinocchio.visualize.base_visualizer.BaseVisualizer.data

Definition at line 26 of file base_visualizer.py.

pinocchio.visualize.base_visualizer.BaseVisualizer.model

Definition at line 17 of file base_visualizer.py.

pinocchio.visualize.base_visualizer.BaseVisualizer.visual_data

Definition at line 36 of file base_visualizer.py.

pinocchio.visualize.base_visualizer.BaseVisualizer.visual_model

Definition at line 19 of file base_visualizer.py.

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

• base_visualizer.py