RobotSurface.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>
 
namespace mc_rbdyn::gui
{
 
static const mc_rtc::gui::LineConfig defaultSurfaceConfig = []()
{ return mc_rtc::gui::LineConfig{mc_rtc::gui::Color::Green, 0.01}; }();
 
MC_RBDYN_DLLAPI std::vector<std::string> addSurfaceToGUI(mc_rtc::gui::StateBuilder & gui,
                                                         const std::vector<std::string> & category,
                                                         const mc_rbdyn::Robot & robot,
                                                         const std::string & name,
                                                         const mc_rtc::gui::LineConfig & cfg = defaultSurfaceConfig,
                                                         const std::optional<std::string> & publishName = std::nullopt);
 
} // namespace mc_rbdyn::gui