public void DrawEffort(Drawing3d drawing, JointPlacement[] placements, Color color, double[] radii)
{
for (int i = 0; i < placements.Length; i++)
{
VisualizationUtils.DrawRotationArrow(drawing, placements[i].Rotation, placements[i].Position, color, (float)radii[i]);
}
}
public static void Draw <C>(QuaternionMsg message, Drawing3d drawing, GameObject drawAtPosition = null, float size = 0.1f, bool drawUnityAxes = false)
where C : ICoordinateSpace, new()
{
Vector3 position = drawAtPosition != null ? drawAtPosition.transform.position : Vector3.zero;
VisualizationUtils.DrawAxisVectors <C>(drawing, position.To <C>(), message, size, drawUnityAxes);
}
public void Start()
{
m_FillTexture = VisualizationUtils.MakeTexture(16, 16, new Color(0.125f, 0.19f, 0.25f));
m_Connection = ROSConnection.GetOrCreateInstance();
HudPanel.RegisterTab(this, (int)HudTabOrdering.Topics);
HudPanel.RegisterTab(new VisualizationLayoutTab(this), (int)HudTabOrdering.Layout);
LoadLayout();
m_Connection.ListenForTopics(OnNewTopic, notifyAllExistingTopics: true);
}
public void AddMessage(Message message)
{
if (!VisualizationUtils.AssertMessageType <T>(message, m_Topic))
{
return;
}
this.message = (T)message;
this.meta = new MessageMetadata(m_Topic, Time.time, DateTime.Now);
m_GUIAction = null;
}
public override void Draw(Drawing3d drawing, IEnumerable <Tuple <PointMsg, MessageMetadata> > messages)
{
Vector3 prevPoint = Vector3.zero;
Color color = Color.white;
string label = "";
MessageMetadata meta = messages.FirstOrDefault().Item2;
color = VisualizationUtils.SelectColor(m_Color, meta);
label = VisualizationUtils.SelectLabel(m_Label, meta);
drawing.DrawPath(messages.Select(tuple => tuple.Item1.From <FLU>()), color, m_Thickness);
drawing.DrawLabel(label, prevPoint, color);
}
public void AddMessage(Message message)
{
if (!VisualizationUtils.AssertMessageType <T>(message, m_Topic))
{
return;
}
this.message = (T)message;
this.meta = meta;
m_Texture2D = null;
m_GUIAction = null;
// notify anyone who requested updates when the texture changes
foreach (Action <Texture2D> callback in m_OnChangeCallbacks)
{
callback(GetTexture());
}
}
public virtual void AddMessage(Message message)
{
MessageMetadata meta = new MessageMetadata(m_Topic, Time.time, DateTime.Now);
if (!VisualizationUtils.AssertMessageType <T>(message, m_Topic))
{
return;
}
m_Message = (T)message;
m_Meta = meta;
m_GUIAction = null;
// If messages are coming in faster than 1 per frame, we only update the drawing once per frame
if (m_IsDrawingEnabled && Time.time > m_LastDrawingFrameTime)
{
Redraw();
}
m_LastDrawingFrameTime = Time.time;
}
public void OnChanged(TFStream stream)
{
Drawing3d drawing;
if (!drawings.TryGetValue(stream.Name, out drawing))
{
drawing = Drawing3d.Create();
drawings[stream.Name] = drawing;
if (stream.Parent != null)
{
OnChanged(stream.Parent);
Drawing3d parentStream;
if (drawings.TryGetValue(stream.Parent.Name, out parentStream))
{
drawing.transform.parent = parentStream.transform;
}
}
}
TFFrame frame = stream.GetLocalTF();
drawing.transform.localPosition = frame.translation;
drawing.transform.localRotation = frame.rotation;
drawing.Clear();
EnsureSettings(stream);
if (m_ShowAxes[stream])
{
VisualizationUtils.DrawAxisVectors <FLU>(drawing, Vector3.zero.To <FLU>(), Quaternion.identity.To <FLU>(), axesScale, false);
}
if (m_ShowLinks[stream])
{
drawing.DrawLine(Quaternion.Inverse(frame.rotation) * -frame.translation, Vector3.zero, color, lineThickness);
}
if (m_ShowNames[stream])
{
drawing.DrawLabel(stream.Name, Vector3.zero, color);
}
}
public override Action CreateGUI(TwistWithCovarianceStampedMsg message, MessageMetadata meta) => () =>
{
message.header.GUI();
message.twist.twist.GUI();
VisualizationUtils.GUIGrid(message.twist.covariance, 6, ref m_ViewCovariance);
};
public static void Draw <C>(TwistMsg message, Drawing3d drawing, Color color, Vector3 origin, float lengthScale = 1, float sphereRadius = 1, float thickness = 0.01f) where C : ICoordinateSpace, new()
{
drawing.DrawArrow(origin, origin + message.linear.From <C>() * lengthScale, color, thickness);
VisualizationUtils.DrawAngularVelocityArrow(drawing, message.angular.From <C>(), origin, color, sphereRadius, thickness);
}
public static void Draw <C>(QuaternionMsg message, Drawing3d drawing, Vector3 position, float size = 0.1f, bool drawUnityAxes = false)
where C : ICoordinateSpace, new()
{
VisualizationUtils.DrawAxisVectors <C>(drawing, position.To <C>(), message, size, drawUnityAxes);
}
public virtual Action CreateGUI(T message, MessageMetadata meta)
{
return(VisualizationUtils.CreateDefaultGUI(message, meta));
}
public string SelectLabel(string userLabel, MessageMetadata meta)
{
return(VisualizationUtils.SelectLabel(userLabel, meta));
}
public Color SelectColor(Color userColor, MessageMetadata meta)
{
return(VisualizationUtils.SelectColor(userColor, meta));
}
