def draw_arrow(origin, end, color='r', linewidth=0.02):
"""
Draw an arrow between two points.
Parameters
----------
origin : array, shape=(3,)
World coordinates of the origin of the arrow.
end : array, shape=(3,)
World coordinates of the end of the arrow.
color : char or triplet, optional
Color letter or RGB values, default is 'g' for green.
linewidth : scalar, optional
Thickness of arrow.
Returns
-------
handle : openravepy.GraphHandle
OpenRAVE graphical handle. Must be stored in some variable, otherwise
the drawn object will vanish instantly.
"""
if type(color) is str:
color = matplotlib_to_rgb(color)
env = get_openrave_env()
return env.drawarrow(origin, end, linewidth=linewidth, color=color)
def draw_line(start_point, end_point, color='g', linewidth=1.):
"""
Draw a line between two points.
Parameters
----------
start_point : array, shape=(3,)
One end of the line, in world frame coordinates.
end_point : array, shape=(3,)
Other end of the line, in world frame coordinates.
color : char or triplet, optional
Color letter or RGB values, default is 'g' for green.
linewidth : scalar
Thickness of drawn line.
Returns
-------
handle : openravepy.GraphHandle
OpenRAVE graphical handle. Must be stored in some variable, otherwise
the drawn object will vanish instantly.
"""
if type(color) is str:
color = matplotlib_to_rgb(color)
return get_openrave_env().drawlinelist(
array([start_point, end_point]), linewidth=linewidth, colors=color)
def __init__(self, contact_set=None, z=0., color=None):
if color is None:
color = (0., 0.5, 0., 0.5)
if type(color) is str:
color = matplotlib_to_rgb(color) + [0.5]
super(SupportAreaDrawer, self).__init__()
self.color = color
self.contact_poses = {}
self.contact_set = contact_set
self.handle = None
self.z = z
if contact_set is not None:
self.update_contact_poses()
self.update_polygon()
def set_color(self, color):
"""
Set the color of the robot.
Parameters
----------
color : tuple or string
RGB tuple, or color code in `matplotlib convention
<http://matplotlib.org/api/colors_api.html>`_.
"""
if type(color) is str:
color = matplotlib_to_rgb(color)
for link in self.rave.GetLinks():
for geom in link.GetGeometries():
geom.SetAmbientColor(color)
geom.SetDiffuseColor(color)