if useOctomap:
octomapManager = lcmoctomap.init(view)
app.MenuActionToggleHelper('Tools', 'Renderer - Octomap', octomapManager.isEnabled, octomapManager.setEnabled)
if useCollections:
collectionsManager = lcmcollections.init(view)
app.MenuActionToggleHelper('Tools', 'Renderer - Collections', collectionsManager.isEnabled, collectionsManager.setEnabled)
if useDrakeVisualizer:
drakeVisualizer = drakevisualizer.DrakeVisualizer(view)
app.MenuActionToggleHelper('Tools', 'Renderer - Drake', drakeVisualizer.isEnabled, drakeVisualizer.setEnabled)
if useNavigationPanel:
navigationPanel = navigationpanel.init(robotStateJointController, footstepsDriver)
picker = PointPicker(view, callback=navigationPanel.pointPickerStoredFootsteps, numberOfPoints=2)
#picker.start()
if usePlanning:
def showPose(pose):
playbackRobotModel.setProperty('Visible', True)
playbackJointController.setPose('show_pose', pose)
def playPlan(plan):
playPlans([plan])
def playPlans(plans):
planPlayback.stopAnimation()
playbackRobotModel.setProperty('Visible', True)
planPlayback.playPlans(plans, playbackJointController)
octomapManager.setEnabled)
if useCollections:
collectionsManager = lcmcollections.init(view)
app.MenuActionToggleHelper('Tools', 'Renderer - Collections',
collectionsManager.isEnabled,
collectionsManager.setEnabled)
if useDrakeVisualizer:
drakeVisualizer = drakevisualizer.DrakeVisualizer(view)
app.MenuActionToggleHelper('Tools', 'Renderer - Drake',
drakeVisualizer.isEnabled,
drakeVisualizer.setEnabled)
if useNavigationPanel:
navigationPanel = navigationpanel.init(robotStateJointController,
footstepsDriver)
picker = PointPicker(view,
callback=navigationPanel.pointPickerStoredFootsteps,
numberOfPoints=2)
#picker.start()
if usePlanning:
def showPose(pose):
playbackRobotModel.setProperty('Visible', True)
playbackJointController.setPose('show_pose', pose)
def playPlan(plan):
playPlans([plan])
def playPlans(plans):