RenderVelocity Class Reference

Render for linear and angular velocity. More...

#include <RenderVelocity.hpp>

Inherits Render.

Public Types
typedef rw::core::Ptr< RenderVelocity >	Ptr
	smart pointer type to this class
Public Types inherited from Render
typedef rw::core::Ptr< Render >	Ptr
	smart pointer type to this class
typedef DrawableNode::DrawType	DrawType
	when calling render on the draw mode or type can be specified. See DrawableNode::DrawType

Public Member Functions
	RenderVelocity ()
	Constructor.
virtual	~RenderVelocity ()
	Destructor.
void	draw (const rw::graphics::DrawableNode::RenderInfo &info, rw::graphics::DrawableNode::DrawType type, double alpha) const
rw::math::VelocityScrew6D	getVelocity () const
	Get the currently set velocity. More...
float	getScaleLinear () const
	Get the current scaling of the linear velocity in meters per meter per second. More...
float	getScaleAngular () const
	Get the angular scaling of the angular velocity in meters per radians per second. More...
void	setVelocity (rw::math::VelocityScrew6D<> velocity)
	Set the velocity. More...
void	setScaleLinear (float scale)
	Set the scaling of the linear velocity in meters per meter per second. More...
void	setScaleAngular (float scale)
	Set the angular scaling of the angular velocity in meters per radians per second. More...
void	setScales (float scaleLinear, float scaleAngular)
	Set the current scaling of the linar and angular velocity arrows. More...
rw::math::Vector3D< float >	getColorLinear () const
	Get the current color used for the linear velocity arrow. More...
rw::math::Vector3D< float >	getColorAngular () const
	Get the current color used for the angular velocity arrow. More...
void	setColorLinear (float r, float g, float b)
	Sets color of the linear velocity arrow. More...
void	setColorAngular (float r, float g, float b)
	Sets color of the angular velocity arrow. More...
void	setResolution (unsigned int resolution)
	Set the resolution of the rendering. More...
Public Member Functions inherited from Render
virtual	~Render ()
	destructor

Additional Inherited Members
Protected Member Functions inherited from Render
	Render ()
	Only instances of classes inheriting Render is allowed.

Detailed Description

Render for linear and angular velocity.

Member Function Documentation

draw()

void draw ( const rw::graphics::DrawableNode::RenderInfo &  info, rw::graphics::DrawableNode::DrawType  type, double  alpha  ) const

virtual

Parameters

info	[in] state and rendering specific info
type	[in] the drawtype which is being used
alpha	[in] the alpha value to render with

Implements Render.

getColorAngular()

rw::math::Vector3D<float> getColorAngular

(

)

const

Get the current color used for the angular velocity arrow.

Returns

the color as (r,g,b) vector.

getColorLinear()

rw::math::Vector3D<float> getColorLinear

(

)

const

Get the current color used for the linear velocity arrow.

Returns

the color as (r,g,b) vector.

getScaleAngular()

float getScaleAngular

(

)

const

Get the angular scaling of the angular velocity in meters per radians per second.

Returns

the scale factor.

getScaleLinear()

float getScaleLinear

(

)

const

Get the current scaling of the linear velocity in meters per meter per second.

Returns

the scale factor.

getVelocity()

rw::math::VelocityScrew6D getVelocity

(

)

const

Get the currently set velocity.

Returns

the velocity.

setColorAngular()

void setColorAngular	(	float	r,
		float	g,
		float	b
	)

Sets color of the angular velocity arrow.

Parameters

r	[in] red color component.
g	[in] green color component.
b	[in] blue color component.

setColorLinear()

void setColorLinear	(	float	r,
		float	g,
		float	b
	)

Sets color of the linear velocity arrow.

Parameters

r	[in] red color component.
g	[in] green color component.
b	[in] blue color component.

setResolution()

void setResolution

(

unsigned int

resolution

)

Set the resolution of the rendering.

The round parts will be discretized in the given resolution. Default value is 32.

Parameters

resolution

setScaleAngular()

void setScaleAngular

(

float

scale

)

Set the angular scaling of the angular velocity in meters per radians per second.

Parameters

scale

[in] the scale factor.

setScaleLinear()

void setScaleLinear

(

float

scale

)

Set the scaling of the linear velocity in meters per meter per second.

Parameters

scale

[in] the scale factor.

setScales()

void setScales	(	float	scaleLinear,
		float	scaleAngular
	)

Set the current scaling of the linar and angular velocity arrows.

Parameters

scaleLinear	[in] the scale factor for linear velocity.
scaleAngular	[in] the scale factor for angular velocity.

setVelocity()

void setVelocity

(

rw::math::VelocityScrew6D<>

velocity

)

Set the velocity.

Parameters

velocity

[in] the velocity.

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

• RenderVelocity.hpp