#include <TransformerGraph.hpp>

Public Types
typedef std::pair< std::string, std::string >	EdgeDescription

typedef std::list< EdgeDescription >	GraphDescription

Static Public Member Functions
static osg::Node *	create (const std::string &name)

static std::string	getWorldName (const osg::Node &transformer)

static void	setTextSize (osg::Node &transformer, float size)

static float	getTextSize (osg::Node &transformer)

static osg::Node *	addFrame (osg::Node &transformer, const std::string &name)

static osg::Node *	getFrame (osg::Node &transformer, const std::string &name)

static osg::Node *	getFrame (osg::Node &transformer, osg::Node *node)

static osg::Group *	getFrameGroup (osg::Node &transformer, const std::string &frame="")

static std::string	getFrameName (osg::Node &transformer, osg::Node *node)

static GraphDescription	getGraphDescription (osg::Node &transformer)

static bool	setTransformation (osg::Node &transformer, const std::string &source_frame, const std::string &target_frame, const osg::Quat &quat, const osg::Vec3d &trans)

static void	makeRoot (osg::Node &transformer, std::string const &desiredRoot)

static bool	getTransformation (osg::Node &transformer, const std::string &source_frame, const std::string &target_frame, osg::Quat &quat, osg::Vec3d &trans)

static bool	removeFrame (osg::Node &transformer, const std::string &name)

static bool	hasFrame (osg::Node &transformer, const std::string &name)

static std::vector< std::string >	getFrameNames (osg::Node &transformer)

static void	showFrameAnnotation (osg::Node &transformer, bool value)

static bool	areFrameAnnotationVisible (osg::Node &transformer)

static void	attachNode (osg::Node &transformer, const std::string &frame, osg::Node &node)

static void	detachNode (osg::Node &transformer, osg::Node &node)

Detailed Description

The class TransfromerGraph is a collection of methods for creating and manipulating an osg sub scene graph used to maintain osg nodes living in different relative coordinate frames.

Member Typedef Documentation

◆ EdgeDescription

typedef std::pair<std::string, std::string> vizkit3d::TransformerGraph::EdgeDescription

◆ GraphDescription

typedef std::list<EdgeDescription> vizkit3d::TransformerGraph::GraphDescription

Member Function Documentation

◆ addFrame()

osg::Node * TransformerGraph::addFrame	(	osg::Node &	transformer,
		const std::string &	name
	)

static

Adds a new coordinate frame to the graph. Use setTranformation to change its location in the graph.

Parameters

transformer	The osg node of the transformer graph
name	The name of the new coordinate frame

◆ areFrameAnnotationVisible()

bool TransformerGraph::areFrameAnnotationVisible ( osg::Node & transformer )

static

Returns true if the frame annotations are activated

Parameters

transformer The osg node of the transformer graph

◆ attachNode()

void TransformerGraph::attachNode	(	osg::Node &	transformer,
		const std::string &	frame,
		osg::Node &	node
	)

static

Attaches the given node to the given coordinate frame. If the node is already attached it will be removed first.

Parameters

transformer	The osg node of the transformer graph
frame	The name of the coordinate frame.
node	The node which shall be attached.

◆ create()

osg::Node * TransformerGraph::create ( const std::string & name )

static

Creates a new sub scene graph for maintaining a transformation stack

Do not directly add nodes to this node. Use getGroupNode instead!

Parameters

name	The name of the wold coordinate frame

Returns: The transformer node of the created sub graph

◆ detachNode()

void TransformerGraph::detachNode	(	osg::Node &	transformer,
		osg::Node &	node
	)

static

Detaches the given node from the transformer graph

Parameters

transformer	The osg node of the transformer graph
node	The node which shall be detached.

◆ getFrame() [1/2]

osg::Node * TransformerGraph::getFrame	(	osg::Node &	transformer,
		const std::string &	name
	)

static

Returns the osg node for the given frame name. Returns NULL if the frame name does not exist.

Do not directly add nodes to this node. Use getGroupNode instead!

Parameters

transformer	The osg node of the transformer graph
name	The name of coordinate frame

◆ getFrame() [2/2]

osg::Node * TransformerGraph::getFrame	(	osg::Node &	transformer,
		osg::Node *	node
	)

static

Returns the osg frame node for the given custom node. Returns NULL if the given node is not port of the sub scene graph

Do not directly add nodes to this node. Use getGroupNode instead!

Parameters

transformer	The osg node of the transformer graph
node	The node

◆ getFrameGroup()

osg::Group * TransformerGraph::getFrameGroup	(	osg::Node &	transformer,
		const std::string &	frame = `""`
	)

static

Returns the osg group node for the given frame. Use this node if you want to attach custom nodes to the frame

if no name is given it will return the group of the top level

Parameters

transformer	The osg node of the transformer graph
node	The node

◆ getFrameName()

std::string TransformerGraph::getFrameName	(	osg::Node &	transformer,
		osg::Node *	node
	)

static

Returns the name of the osg frame node for the given custom node. Returns an empty string if the given node is not port of the sub scene graph

Parameters

transformer	The osg node of the transformer graph
node	The node

◆ getFrameNames()

std::vector< std::string > TransformerGraph::getFrameNames ( osg::Node & transformer )

static

Returns the names of all added coordinate frames.

Parameters

transformer The osg node of the transformer graph

◆ getGraphDescription()

TransformerGraph::GraphDescription TransformerGraph::getGraphDescription ( osg::Node & transformer )

static

Returns the shape of the graph as a list of frame names pairs (from->to)

◆ getTextSize()

float TransformerGraph::getTextSize ( osg::Node & transformer )

static

Returns the size of the frame annotations

◆ getTransformation()

bool TransformerGraph::getTransformation	(	osg::Node &	transformer,
		const std::string &	source_frame,
		const std::string &	target_frame,
		osg::Quat &	quat,
		osg::Vec3d &	trans
	)

static

Gets the transformation between two coordinate frames. Thereby unlike setTransformation the frames do not have to be subsequently.

Parameters

transformer	The osg node of the transformer graph
source_frame	The name of the source coordinate frame
target_frame	The name of the target coordinate frame
quat	The rotation between source and target frame
trans	The translation between source and target frame

◆ getWorldName()

std::string TransformerGraph::getWorldName ( const osg::Node & transformer )

static

Returns the name of the wold (root) frame.

◆ hasFrame()

bool TransformerGraph::hasFrame	(	osg::Node &	transformer,
		const std::string &	name
	)

static

Returns true if the given frame name exists.

Parameters

transformer	The osg node of the transformer graph
name	The name of coordinate frame

◆ makeRoot()

void TransformerGraph::makeRoot	(	osg::Node &	transformer,
		std::string const &	desiredRoot
	)

static

Ensures that the transform node for the given frame is a direct child of the transformer node

◆ removeFrame()

bool TransformerGraph::removeFrame	(	osg::Node &	transformer,
		const std::string &	name
	)

static

Removes the osg node for the given frame name. Returns false if the frame name does not exist.

Parameters

transformer	The osg node of the transformer graph
name	The name of coordinate frame

◆ setTextSize()

void TransformerGraph::setTextSize	(	osg::Node &	transformer,
		float	size
	)

static

Sets the size of the frame annotations

◆ setTransformation()

bool TransformerGraph::setTransformation	(	osg::Node &	transformer,
		const std::string &	source_frame,
		const std::string &	target_frame,
		const osg::Quat &	quat,
		const osg::Vec3d &	trans
	)

static

Sets the transformation between two subsequently coordinate frames.

Parameters

transformer	The osg node of the transformer graph
source_frame	The name of the source coordinate frame
target_frame	The name of the target coordinate frame
quat	The rotation between source and target frame
trans	The translation between source and target frame

◆ showFrameAnnotation()

void TransformerGraph::showFrameAnnotation	(	osg::Node &	transformer,
		bool	value
	)

static

Activates or deactivates the annotation of the frame nodes

Parameters

transformer	The osg node of the transformer graph
value

The documentation for this class was generated from the following files:

/build/rock-master-18.09-gui-vizkit3d-0.20180817/src/TransformerGraph.hpp
/build/rock-master-18.09-gui-vizkit3d-0.20180817/src/TransformerGraph.cpp

Public Types

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ EdgeDescription

◆ GraphDescription

Member Function Documentation

◆ addFrame()

◆ areFrameAnnotationVisible()

◆ attachNode()

◆ create()

◆ detachNode()

◆ getFrame() [1/2]

◆ getFrame() [2/2]

◆ getFrameGroup()

◆ getFrameName()

◆ getFrameNames()

◆ getGraphDescription()

◆ getTextSize()

◆ getTransformation()

◆ getWorldName()

◆ hasFrame()

◆ makeRoot()

◆ removeFrame()

◆ setTextSize()

◆ setTransformation()

◆ showFrameAnnotation()