RobotConvex.h

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/*
 * Copyright 2015-2024 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rbdyn/Robot.h>
 
#include <mc_rtc/gui/StateBuilder.h>
#include <mc_rtc/gui/types.h>
 
namespace mc_rbdyn::gui
{
 
static const mc_rtc::gui::PolyhedronConfig defaultConvexConfig = []()
{
  mc_rtc::gui::PolyhedronConfig cfg;
  cfg.triangle_color = {0, 0.8, 0, 0.5};
  cfg.edge_config.color = {0, 1, 0, 1};
  cfg.edge_config.width = 0.001;
  cfg.show_edges = true;
  cfg.show_vertices = false;
  return cfg;
}();
 
MC_RBDYN_DLLAPI void addConvexToGUI(mc_rtc::gui::StateBuilder & gui,
                                    const std::vector<std::string> & category,
                                    const mc_rbdyn::Robot & robot,
                                    const std::string & name,
                                    const mc_rtc::gui::PolyhedronConfig & cfg = defaultConvexConfig,
                                    const std::optional<std::string> & publishName = std::nullopt);
 
} // namespace mc_rbdyn::gui