Struct urdf_viz::Viewer

pub struct Viewer {
    pub window: Window,
    pub scenes: HashMap<String, SceneNodeAndTransform>,
    pub arc_ball: ArcBall,
    // some fields omitted
}

Fields

window: Window

scenes: HashMap<String, SceneNodeAndTransform>

arc_ball: ArcBall

Methods

impl Viewer

fn new(title: &str) -> Viewer

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

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

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

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

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

fn render(&mut self) -> bool

fn update<R, T>(&mut self, robot: &R) where
    R: LinkContainer<T>,
    T: Real + SubsetOf<f32>, 

fn draw_text(
    &mut self,
    text: &str,
    size: i32,
    pos: &Point2<f32>,
    color: &Point3<f32>
)

fn events(&self) -> EventManager

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

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