This class defines the Visualizer for simple visualization. More...

Public Member Functions
def	__init__ (self, List[int] window_size=[1440, 810], ArrayType background_color=[0.0, 0.0, 0.0], ArrayType camera_position=[2, 2, 2], ArrayType camera_focal_point=[0, 0, 0], ArrayType camera_view_up=[0, 0, 1], Union[None, float] quit_after_delay=None)
	Initializer for the Visualizer class. More...

def	reset_camera (self, position, view_dir, view_up)
	Reset the camera pose. More...

vtk.vtkActor	line (self, ArrayType start=[0.0, 0.0, 0.0], ArrayType end=[1.0, 0.0, 0.0], Union[None, ArrayType] rgb=None, float alpha=1.0, float linewidth=1.0)
	Draw a line. More...

vtk.vtkActor	sphere (self, float radius=1.0, ArrayType position=[0.0, 0.0, 0.0], Union[None, ArrayType] rgb=None, float alpha=1.0, int theta_resolution=20, int phi_resolution=20)
	Draw a sphere. More...

List[vtk.vtkActor]	sphere_traj (self, ArrayType position_traj, float radius=1.0, Union[None, ArrayType] rgb=None, int theta_resolution=20, int phi_resolution=20, Union[None, Dict] alpha_spec=None, animate=False, duration=5.0)
	Draw a sphere trajectory. More...

vtk.vtkActor	box (self, ArrayType scale=[1, 1, 1], Union[None, ArrayType] rgb=None, float alpha=1.0, ArrayType position=[0.0, 0.0, 0.0], ArrayType orientation=[0.0, 0.0, 0.0], str euler_seq="xyz", bool euler_degrees=False)
	Draw a box. More...

vtk.vtkActor	cylinder (self, float radius=1.0, float height=1.0, Union[None, ArrayType] rgb=None, float alpha=1.0, int resolution=20, ArrayType position=[0.0, 0.0, 0.0], ArrayType orientation=[0.0, 0.0, 0.0], str euler_seq="xyz", bool euler_degrees=False)
	Draw a cylinder (with main axis along y-axis). More...

vtk.vtkActor	cylinder_urdf (self, radius=1.0, height=1.0, rgb=None, alpha=1.0, resolution=20, position=[0.0, 0.0, 0.0], orientation=[0.0, 0.0, 0.0], euler_seq="xyz", euler_degrees=False)
	Draw a cylinder (with main axis along the z-axis, i.e. More...

vtk.vtkFollower	text (self, str msg="Hello, world!", ArrayType position=[0.0, 0.0, 0.0], ArrayType scale=[1.0, 1.0, 1.0], Union[None, ArrayType] rgb=None, float alpha=1.0)
	Draw text. More...

List[vtk.vtkActor]	link (self, ArrayType T=None, float axis_scale=0.1, float axis_linewidth=1.0, float center_radius=0.01, Union[None, ArrayType] center_rgb=None, float center_alpha=1.0, int center_theta_resolution=20, int center_phi_resolution=20, float axis_alpha=1.0)
	Draw a link. More...

List[vtk.vtkActor]	grid_floor (self, int num_cells=10, Union[None, ArrayType] rgb=None, float alpha=1.0, float linewidth=3.0, Union[None, ArrayType] inner_rgb=None, Union[None, float] inner_alpha=None, float inner_linewidth=1.0, float stride=1.0, ArrayType euler=[0, 0, 0], str euler_seq="xyz", bool euler_degrees=True)
	Draw a grid floor. More...

def	obj (self, str obj_filename, str png_texture_filename=None, ArrayType position=[0.0, 0.0, 0.0], ArrayType orientation=[0.0, 0.0, 0.0], str euler_seq="xyz", bool euler_degrees=False)
	Load .obj file. More...

vtk.vtkActor	stl (self, filename, scale=None, rgb=None, alpha=1.0, position=[0.0, 0.0, 0.0], orientation=[0.0, 0.0, 0.0], euler_seq="xyz", euler_degrees=False)
	Load .stl file. More...

List[vtk.vtkActor]	robot (self, RobotModel robot_model, ArrayType q=None, float alpha=1.0, bool show_links=False, float link_axis_scale=0.2, float link_axis_linewidth=1.0, float link_center_radius=0.01, Union[None, ArrayType] link_center_rgb=None, Union[None, ArrayType] link_center_alpha=None, bool display_link_names=False, ArrayType link_names_scale=[0.005, 0.005, 0.005], ArrayType link_names_rgb=[1, 1, 1], float link_names_alpha=1.0)
	Draw a robot. More...

def	robot_traj (self, robot_model, Q, alpha_spec=None, show_links=False, link_axis_scale=0.2, link_axis_linewidth=1.0, link_center_rgb=1, link_center_alpha=None, link_center_radius=0.01, display_link_names=False, link_names_scale=[0.01, 0.01, 0.01], link_names_rgb=[1, 1, 1], link_names_alpha=1.0, animate=False, duration=5.0)
	Draw a robot through a trajectory. More...

def	save (self, file_name)
	Save the visualizer window as png image. More...

None	start (self)
	Start the visualizer. More...

None	close (self, obj, event)
	Close the visualizer. More...

Static Public Member Functions
DM	cvt_orientation_to_rotation_matrix (ArrayType orientation, str euler_seq, bool euler_degrees)
	Convert an orientation input to a rotation matrix. More...

None	set_tf (vtk.vtkActor actor, ArrayType position, ArrayType orientation, str euler_seq, bool euler_degrees)
	Sets a transform to a vtk Actor. More...

None	set_transformation (vtk.vtkActor actor, ArrayType tf)
	Sets a transformation to a vtk Actor. More...

None	set_rgba (vtk.vtkActor actor, ArrayType rgb, float alpha)
	Set the RGB and alpha channels for an actor. More...

None	set_translation (vtk.vtkActor actor, ArrayType translation)
	Set translation for an actor. More...

Public Attributes
	ren

	renWin

	camera

	iren

	actors

	animate_callbacks

Detailed Description

This class defines the Visualizer for simple visualization.

Constructor & Destructor Documentation

◆ init()

def optas.visualize.Visualizer.__init__	(		self,
		List[int]	window_size = `[1440, 810]`,
		ArrayType	background_color = `[0.0, 0.0, 0.0]`,
		ArrayType	camera_position = `[2, 2, 2]`,
		ArrayType	camera_focal_point = `[0, 0, 0]`,
		ArrayType	camera_view_up = `[0, 0, 1]`,
		Union[None, float]	quit_after_delay = `None`
	)

Initializer for the Visualizer class.

   @param window_size The window size [W, H] for the visualizer.
   @param background_color The color of the background (RGB), default is black.
   @param camera_position The position of the camera in the global frame.
   @param camera_focal_point The focus point of the camera.
   @param camera_view_up Direction of the up direction for the camera.
   @param quit_after_delay Number of seconds to keep visualizer running, if None then the visualizer is run indefinitely until the user quits the window.
   @return An instance of the Visualizer class.

Member Function Documentation

◆ box()

vtk.vtkActor optas.visualize.Visualizer.box	(		self,
		ArrayType	scale = `[1, 1, 1]`,
		Union[None, ArrayType]	rgb = `None`,
		float	alpha = `1.0`,
		ArrayType	position = `[0.0, 0.0, 0.0]`,
		ArrayType	orientation = `[0.0, 0.0, 0.0]`,
		str	euler_seq = `"xyz"`,
		bool	euler_degrees = `False`
	)

Draw a box.

   @param scale The length, width, and height for the box [L, W, H].
   @param rgb The Red-Green-Blue values in range [0, 1].
   @param alpha Transparency of the actor in range [0, 1].
   @param position The position of the transformation.
   @param orientation Orientation of the transformation, either a quaternion or Euler angles.
   @param euler_seq When orientation are Euler angles, specifies sequence of axes for rotations. Up to 3 characters belonging to the set {'X', 'Y', 'Z'} for intrinsic rotations, or {'x', 'y', 'z'} for extrinsic rotations. When orientation are Euler angles, extrinsic and intrinsic rotations cannot be mixed in one function call.
   @param euler_degrees If True, then the given angles are assumed to be in degrees. Default is False.
   @return The box actor.

◆ close()

None optas.visualize.Visualizer.close	(	self,
		obj,
		event
	)

Close the visualizer.

◆ cvt_orientation_to_rotation_matrix()

DM optas.visualize.Visualizer.cvt_orientation_to_rotation_matrix	(	ArrayType	orientation,
		str	euler_seq,
		bool	euler_degrees
	)

static

Convert an orientation input to a rotation matrix.

   @param orientation Either a quaternion or Euler angles.
   @param euler_seq When orientation are Euler angles, specifies sequence of axes for rotations. Up to 3 characters belonging to the set {'X', 'Y', 'Z'} for intrinsic rotations, or {'x', 'y', 'z'} for extrinsic rotations. When orientation are Euler angles, extrinsic and intrinsic rotations cannot be mixed in one function call.
   @param euler_degrees If True, then the given angles are assumed to be in degrees. Default is False.
   @return Rotation matrix.

◆ cylinder()

vtk.vtkActor optas.visualize.Visualizer.cylinder	(		self,
		float	radius = `1.0`,
		float	height = `1.0`,
		Union[None, ArrayType]	rgb = `None`,
		float	alpha = `1.0`,
		int	resolution = `20`,
		ArrayType	position = `[0.0, 0.0, 0.0]`,
		ArrayType	orientation = `[0.0, 0.0, 0.0]`,
		str	euler_seq = `"xyz"`,
		bool	euler_degrees = `False`
	)

Draw a cylinder (with main axis along y-axis).

   @param radius The cylinder radius.
   @param height The height of the cylinder.
   @param rgb The Red-Green-Blue values in range [0, 1].
   @param alpha Transparency of the actor in range [0, 1].
   @param resolution The number of facets used to define cylinder.
   @param position The position of the object.
   @param orientation Orientation of the object, either a quaternion or Euler angles.
   @param euler_seq When orientation are Euler angles, specifies sequence of axes for rotations. Up to 3 characters belonging to the set {'X', 'Y', 'Z'} for intrinsic rotations, or {'x', 'y', 'z'} for extrinsic rotations. When orientation are Euler angles, extrinsic and intrinsic rotations cannot be mixed in one function call.
   @param euler_degrees If True, then the given angles are assumed to be in degrees. Default is False.
   @return The cylinder actor.

◆ cylinder_urdf()

vtk.vtkActor optas.visualize.Visualizer.cylinder_urdf	(	self,
		radius = `1.0`,
		height = `1.0`,
		rgb = `None`,
		alpha = `1.0`,
		resolution = `20`,
		position = `[0.0, 0.0, 0.0]`,
		orientation = `[0.0, 0.0, 0.0]`,
		euler_seq = `"xyz"`,
		euler_degrees = `False`
	)

Draw a cylinder (with main axis along the z-axis, i.e.

similar to URDF).

   @param radius The cylinder radius.
   @param height The height of the cylinder.
   @param rgb The Red-Green-Blue values in range [0, 1].
   @param alpha Transparency of the actor in range [0, 1].
   @param resolution The number of facets used to define cylinder.
   @param position The position of the object.
   @param orientation Orientation of the object, either a quaternion or Euler angles.
   @param euler_seq When orientation are Euler angles, specifies sequence of axes for rotations. Up to 3 characters belonging to the set {'X', 'Y', 'Z'} for intrinsic rotations, or {'x', 'y', 'z'} for extrinsic rotations. When orientation are Euler angles, extrinsic and intrinsic rotations cannot be mixed in one function call.
   @param euler_degrees If True, then the given angles are assumed to be in degrees. Default is False.
   @return The cylinder actor.

◆ grid_floor()

List[vtk.vtkActor] optas.visualize.Visualizer.grid_floor	(		self,
		int	num_cells = `10`,
		Union[None, ArrayType]	rgb = `None`,
		float	alpha = `1.0`,
		float	linewidth = `3.0`,
		Union[None, ArrayType]	inner_rgb = `None`,
		Union[None, float]	inner_alpha = `None`,
		float	inner_linewidth = `1.0`,
		float	stride = `1.0`,
		ArrayType	euler = `[0, 0, 0]`,
		str	euler_seq = `"xyz"`,
		bool	euler_degrees = `True`
	)

Draw a grid floor.

   @param num_cells The number of cells for the grid floor.
   @param rgb The Red-Green-Blue values in range [0, 1].
   @param alpha Transparency of the actor in range [0, 1].
   @param linewidth The line width for the grid.
   @param inner_rgb The Red-Green-Blue values in range [0, 1] for the inner lines at half the stride length.
   @param inner_alpha Transparency of the actor in range [0, 1] for the inner lines at half the stride length.
   @param inner_linewidth The line width for the grid for the inner lines at half the stride length.
   @param stride The length of each main grid cell.
   @param euler The Euler angles that defines the orientation of the plane the grid is defined on.
   @param euler_seq When orientation are Euler angles, specifies sequence of axes for rotations. Up to 3 characters belonging to the set {'X', 'Y', 'Z'} for intrinsic rotations, or {'x', 'y', 'z'} for extrinsic rotations. When orientation are Euler angles, extrinsic and intrinsic rotations cannot be mixed in one function call.
   @param euler_degrees If True, then the given angles are assumed to be in degrees. Default is False.
   @return The grid actors.

◆ line()

vtk.vtkActor optas.visualize.Visualizer.line	(		self,
		ArrayType	start = `[0.0, 0.0, 0.0]`,
		ArrayType	end = `[1.0, 0.0, 0.0]`,
		Union[None, ArrayType]	rgb = `None`,
		float	alpha = `1.0`,
		float	linewidth = `1.0`
	)

Draw a line.

   @param start The start of the line.
   @param end The end of the line.
   @param rgb The Red-Green-Blue values in range [0, 1].
   @param alpha Transparency of the actor in range [0, 1].
   @param linewidth The width of the line.
   @return The line actor.

◆ link()

List[vtk.vtkActor] optas.visualize.Visualizer.link	(		self,
		ArrayType	T = `None`,
		float	axis_scale = `0.1`,
		float	axis_linewidth = `1.0`,
		float	center_radius = `0.01`,
		Union[None, ArrayType]	center_rgb = `None`,
		float	center_alpha = `1.0`,
		int	center_theta_resolution = `20`,
		int	center_phi_resolution = `20`,
		float	axis_alpha = `1.0`
	)

Draw a link.

   @param T Homogeneous transformation matrix.
   @param axis_scale The axis length.
   @param axis_linewidth Width of the axis lines.
   @param center_radius The radius of the central sphere.
   @param center_rgb The Red-Green-Blue values in range [0, 1].
   @param center_alpha Transparency of the centeral sphere in range [0, 1].
   @param center_theta_resolution The number of points in the longitude direction.
   @param center_phi_resolution The number of points in the latitude direction.
   @param axis_alpha Transparency of the axes in range [0, 1].
   @return The link actors.

◆ obj()

def optas.visualize.Visualizer.obj	(		self,
		str	obj_filename,
		str	png_texture_filename = `None`,
		ArrayType	position = `[0.0, 0.0, 0.0]`,
		ArrayType	orientation = `[0.0, 0.0, 0.0]`,
		str	euler_seq = `"xyz"`,
		bool	euler_degrees = `False`
	)

Load .obj file.

   @param obj_filename The filename for the .obj file.
   @param png_texture_filename The texture filename.
   @param position The position of the object.
   @param orientation Orientation of the object, either a quaternion or Euler angles.
   @param euler_seq When orientation are Euler angles, specifies sequence of axes for rotations. Up to 3 characters belonging to the set {'X', 'Y', 'Z'} for intrinsic rotations, or {'x', 'y', 'z'} for extrinsic rotations. When orientation are Euler angles, extrinsic and intrinsic rotations cannot be mixed in one function call.
   @param euler_degrees If True, then the given angles are assumed to be in degrees. Default is False.
   @return The actor representing the .obj file.

◆ reset_camera()

def optas.visualize.Visualizer.reset_camera	(	self,
		position,
		view_dir,
		view_up
	)

Reset the camera pose.

   @param position The position of the camera.
   @param view_dir The direction that the camera should view.
   @param view_up The up direction for the image.

◆ robot()

List[vtk.vtkActor] optas.visualize.Visualizer.robot	(		self,
		RobotModel	robot_model,
		ArrayType	q = `None`,
		float	alpha = `1.0`,
		bool	show_links = `False`,
		float	link_axis_scale = `0.2`,
		float	link_axis_linewidth = `1.0`,
		float	link_center_radius = `0.01`,
		Union[None, ArrayType]	link_center_rgb = `None`,
		Union[None, ArrayType]	link_center_alpha = `None`,
		bool	display_link_names = `False`,
		ArrayType	link_names_scale = `[0.005, 0.005, 0.005]`,
		ArrayType	link_names_rgb = `[1, 1, 1]`,
		float	link_names_alpha = `1.0`
	)

Draw a robot.

   @param robot_model The robot model defining the robot kinematics and visuals.
   @param q Joint configuration to draw robot.
   @param alpha Transparency of the actor in range [0, 1].
   @param show_links When true, the robot links are shown.
   @param link_axis_scale The scale for the link axes when shown.
   @param link_axis_linewidth The linewidth for the axes of the robot links when shown.
   @param link_center_radius The radius of the axis central sphere when shown.
   @param link_center_rgb The RGB values for the central sphere in range [0, 1] when shown.
   @param link_center_alpha The transparency for the central sphere in the range [0, 1] when shown.
   @param display_link_names When true, the names of the robot link are shown.
   @param link_names_scale The size of the link names text when shown.
   @param link_names_rgb The RGB values in range [0, 1] for the robot link names text when shown.
   @param link_names_alpha The transparency in range [0, 1] for the robot link names when shown.
   @return The actors representing the robot.

◆ robot_traj()

def optas.visualize.Visualizer.robot_traj	(	self,
		robot_model,
		Q,
		alpha_spec = `None`,
		show_links = `False`,
		link_axis_scale = `0.2`,
		link_axis_linewidth = `1.0`,
		link_center_rgb = `1`,
		link_center_alpha = `None`,
		link_center_radius = `0.01`,
		display_link_names = `False`,
		link_names_scale = `[0.01, 0.01, 0.01]`,
		link_names_rgb = `[1, 1, 1]`,
		link_names_alpha = `1.0`,
		animate = `False`,
		duration = `5.0`
	)

Draw a robot through a trajectory.

   @param robot_model The robot model defining the robot kinematics and visuals.
   @param Q Joint configuration trajectory to draw robot.
   @param alpha_spec Transparency specification of the robots in motion.
   @param show_links When true, the robot links are shown.
   @param link_axis_scale The scale for the link axes when shown.
   @param link_axis_linewidth The linewidth for the axes of the robot links when shown.
   @param link_center_radius The radius of the axis central sphere when shown.
   @param link_center_rgb The RGB values for the central sphere in range [0, 1] when shown.
   @param link_center_alpha The transparency for the central sphere in the range [0, 1] when shown.
   @param display_link_names When true, the names of the robot link are shown.
   @param link_names_scale The size of the link names text when shown.
   @param link_names_rgb The RGB values in range [0, 1] for the robot link names text when shown.
   @param link_names_alpha The transparency in range [0, 1] for the robot link names when shown.
   @return The actors representing the robot.

◆ save()

def optas.visualize.Visualizer.save	(	self,
		file_name
	)

Save the visualizer window as png image.

Note, saving animations is currently not supported.

◆ set_rgba()

None optas.visualize.Visualizer.set_rgba	(	vtk.vtkActor	actor,
		ArrayType	rgb,
		float	alpha
	)

static

Set the RGB and alpha channels for an actor.

   @param actor A vtk actor object.
   @param rgb The Red-Green-Blue values in range [0, 1].
   @param alpha Transparency of the actor in range [0, 1].

◆ set_tf()

None optas.visualize.Visualizer.set_tf	(	vtk.vtkActor	actor,
		ArrayType	position,
		ArrayType	orientation,
		str	euler_seq,
		bool	euler_degrees
	)

static

Sets a transform to a vtk Actor.

   @param actor A vtk actor object.
   @param position The position of the transformation.
   @param orientation Orientation of the transformation, either a quaternion or Euler angles.
   @param euler_seq When orientation are Euler angles, specifies sequence of axes for rotations. Up to 3 characters belonging to the set {'X', 'Y', 'Z'} for intrinsic rotations, or {'x', 'y', 'z'} for extrinsic rotations. When orientation are Euler angles, extrinsic and intrinsic rotations cannot be mixed in one function call.
   @param euler_degrees If True, then the given angles are assumed to be in degrees. Default is False.

◆ set_transformation()

None optas.visualize.Visualizer.set_transformation	(	vtk.vtkActor	actor,
		ArrayType	tf
	)

static

Sets a transformation to a vtk Actor.

   @param actor A vtk actor object.
   @param tf A homogenous transformation matrix.

◆ set_translation()

None optas.visualize.Visualizer.set_translation	(	vtk.vtkActor	actor,
		ArrayType	translation
	)

static

Set translation for an actor.

   @param actor A vtk actor object.
   @param translation The translation in the global frame.

◆ sphere()

vtk.vtkActor optas.visualize.Visualizer.sphere	(		self,
		float	radius = `1.0`,
		ArrayType	position = `[0.0, 0.0, 0.0]`,
		Union[None, ArrayType]	rgb = `None`,
		float	alpha = `1.0`,
		int	theta_resolution = `20`,
		int	phi_resolution = `20`
	)

Draw a sphere.

   @param radius The radius of the sphere.
   @param position The position of the sphere.
   @param rgb The Red-Green-Blue values in range [0, 1].
   @param alpha Transparency of the actor in range [0, 1].
   @param theta_resolution The number of points in the longitude direction.
   @param phi_resolution The number of points in the latitude direction.
   @return The sphere actor.

◆ sphere_traj()

List[vtk.vtkActor] optas.visualize.Visualizer.sphere_traj	(		self,
		ArrayType	position_traj,
		float	radius = `1.0`,
		Union[None, ArrayType]	rgb = `None`,
		int	theta_resolution = `20`,
		int	phi_resolution = `20`,
		Union[None, Dict]	alpha_spec = `None`,
			animate = `False`,
			duration = `5.0`
	)

Draw a sphere trajectory.

   @param position_traj The position trajectory for the spheres.
   @param radius The radius of the spheres.
   @param rgb The Red-Green-Blue values in range [0, 1].
   @param theta_resolution The number of points in the longitude direction.
   @param phi_resolution The number of points in the latitude direction.
   @param The alpha specification.
   @return The sphere actors.

◆ start()

None optas.visualize.Visualizer.start ( self )

Start the visualizer.

◆ stl()

vtk.vtkActor optas.visualize.Visualizer.stl	(	self,
		filename,
		scale = `None`,
		rgb = `None`,
		alpha = `1.0`,
		position = `[0.0, 0.0, 0.0]`,
		orientation = `[0.0, 0.0, 0.0]`,
		euler_seq = `"xyz"`,
		euler_degrees = `False`
	)

Load .stl file.

   @param filename The filename for the .stl file.
   @param scale Scale applied to the mesh file in the xyz directions.
   @param rgb The Red-Green-Blue values in range [0, 1].
   @param alpha Transparency of the actor in range [0, 1].
   @param position The position of the object.
   @param orientation Orientation of the object, either a quaternion or Euler angles.
   @param euler_seq When orientation are Euler angles, specifies sequence of axes for rotations. Up to 3 characters belonging to the set {'X', 'Y', 'Z'} for intrinsic rotations, or {'x', 'y', 'z'} for extrinsic rotations. When orientation are Euler angles, extrinsic and intrinsic rotations cannot be mixed in one function call.
   @param euler_degrees If True, then the given angles are assumed to be in degrees. Default is False.
   @return The actor representing the .stl file.

◆ text()

vtk.vtkFollower optas.visualize.Visualizer.text	(		self,
		str	msg = `"Hello, world!"`,
		ArrayType	position = `[0.0, 0.0, 0.0]`,
		ArrayType	scale = `[1.0, 1.0, 1.0]`,
		Union[None, ArrayType]	rgb = `None`,
		float	alpha = `1.0`
	)

Draw text.

   @param msg The text to draw.
   @param position The position to draw the text in the global frame.
   @param scale The size of the text.
   @param rgb The Red-Green-Blue values in range [0, 1].
   @param alpha Transparency of the actor in range [0, 1].
   @return The text actor.

Member Data Documentation

◆ actors

optas.visualize.Visualizer.actors

◆ animate_callbacks

optas.visualize.Visualizer.animate_callbacks

◆ camera

optas.visualize.Visualizer.camera

◆ iren

optas.visualize.Visualizer.iren

◆ ren

optas.visualize.Visualizer.ren

◆ renWin

optas.visualize.Visualizer.renWin

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

visualize.py

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ box()

◆ close()

◆ cvt_orientation_to_rotation_matrix()

◆ cylinder()

◆ cylinder_urdf()

◆ grid_floor()

◆ line()

◆ link()

◆ obj()

◆ reset_camera()

◆ robot()

◆ robot_traj()

◆ save()

◆ set_rgba()

◆ set_tf()

◆ set_transformation()

◆ set_translation()

◆ sphere()

◆ sphere_traj()

◆ start()

◆ stl()

◆ text()

Member Data Documentation

◆ actors

◆ animate_callbacks

◆ camera

◆ iren

◆ ren

◆ renWin

◆ init()