def draw_point(self, loc, color=None, thickness=10.0):
"""Draws a debug point in the world
Args:
loc (:obj:`list` of :obj:`float`): The ``[x, y, z]`` start of the box.
(see :ref:`coordinate-system`)
color (:obj:`list` of :obj:`float`): ``[r, g, b]`` color value
thickness (:obj:`float`): thickness of the point
"""
color = [255, 0, 0] if color is None else color
command_to_send = DebugDrawCommand(3, loc, [0, 0, 0], color, thickness)
self._enqueue_command(command_to_send)
def draw_box(self, center, extent, color=None, thickness=10.0):
"""Draws a debug box in the world
Args:
center (:obj:`list` of :obj:`float`): The start ``[x, y, z]`` location of the box.
(see :ref:`coordinate-system`)
extent (:obj:`list` of :obj:`float`): The ``[x, y, z]`` extent of the box
color (:obj:`list`): ``[r, g, b]`` color value
thickness (:obj:`float`): thickness of the lines
"""
color = [255, 0, 0] if color is None else color
command_to_send = DebugDrawCommand(2, center, extent, color, thickness)
self._enqueue_command(command_to_send)
def draw_arrow(self, start, end, color=None, thickness=10.0):
"""Draws a debug arrow in the world
Args:
start (:obj:`list` of :obj:`float`): The start ``[x, y, z]`` location of the line.
(see :ref:`coordinate-system`)
end (:obj:`list` of :obj:`float`): The end ``[x, y, z]`` location of the arrow
color (:obj:`list`): ``[r, g, b]`` color value
thickness (:obj:`float`): thickness of the arrow
"""
color = [255, 0, 0] if color is None else color
command_to_send = DebugDrawCommand(1, start, end, color, thickness)
self._enqueue_command(command_to_send)