Struct urdf_viz::Viewer

pub struct Viewer {
    pub window: Window,
    // some fields omitted
}

Fields

window: Window

Implementations

impl Viewer

pub fn new(title: &str) -> Viewer

pub fn with_background_color(title: &str, color: (f32, f32, f32)) -> Viewer

pub fn disable_texture(&mut self)

pub fn enable_texture(&mut self)

pub fn add_robot(&mut self, urdf_robot: &Robot)

pub fn add_robot_with_base_dir(
    &mut self,
    urdf_robot: &Robot,
    base_dir: Option<&Path>
)

pub fn add_robot_with_base_dir_and_collision_flag(
    &mut self,
    urdf_robot: &Robot,
    base_dir: Option<&Path>,
    is_collision: bool
)

pub fn remove_robot(&mut self, urdf_robot: &Robot)

pub fn add_axis_cylinders(&mut self, name: &str, size: f32)

pub fn scene_node(&mut self, name: &str) -> Option<&SceneNode>

pub fn scene_node_mut(&mut self, name: &str) -> Option<&mut SceneNode>

pub fn render(&mut self) -> bool

pub fn update<T>(&mut self, robot: &Chain<T>) where
    T: RealField + SubsetOf<f64> + SubsetOf<f32>, 

pub fn draw_text(
    &mut self,
    text: &str,
    size: f32,
    pos: &Point2<f32>,
    color: &Point3<f32>
)

pub fn events(&self) -> EventManager

pub fn set_temporal_color(&mut self, link_name: &str, r: f32, g: f32, b: f32)

pub fn reset_temporal_color(&mut self, link_name: &str)

pub fn add_ground(
    &mut self,
    ground_height: f32,
    panel_size: f32,
    half_panel_num: i32,
    ground_color1: (f32, f32, f32),
    ground_color2: (f32, f32, f32)
) -> Vec<SceneNode>