def createPolyDataFromPrimitive(geom):
if geom.type == lcmrl.viewer_geometry_data_t.BOX:
d = DebugData()
d.addCube(dimensions=geom.float_data[0:3], center=[0, 0, 0])
return d.getPolyData()
elif geom.type == lcmrl.viewer_geometry_data_t.SPHERE:
d = DebugData()
d.addSphere(center=(0, 0, 0), radius=geom.float_data[0])
return d.getPolyData()
elif geom.type == lcmrl.viewer_geometry_data_t.CYLINDER:
d = DebugData()
d.addCylinder(center=(0, 0, 0), axis=(0, 0, 1), radius=geom.float_data[0], length=geom.float_data[1])
return d.getPolyData()
elif geom.type == lcmrl.viewer_geometry_data_t.CAPSULE:
d = DebugData()
radius = geom.float_data[0]
length = geom.float_data[1]
d.addCylinder(center=(0, 0, 0), axis=(0, 0, 1), radius=radius, length=length)
d.addSphere(center=(0, 0, length / 2.0), radius=radius)
d.addSphere(center=(0, 0, -length / 2.0), radius=radius)
return d.getPolyData()
elif hasattr(lcmrl.viewer_geometry_data_t, "ELLIPSOID") and geom.type == lcmrl.viewer_geometry_data_t.ELLIPSOID:
d = DebugData()
radii = geom.float_data[0:3]
d.addEllipsoid(center=(0, 0, 0), radii=radii)
return d.getPolyData()
raise Exception("Unsupported geometry type: %s" % geom.type)
def createPolyDataFromPrimitive(geom):
if geom.type == lcmrl.viewer_geometry_data_t.BOX:
d = DebugData()
d.addCube(dimensions=geom.float_data[0:3], center=[0,0,0])
return d.getPolyData()
elif geom.type == lcmrl.viewer_geometry_data_t.SPHERE:
d = DebugData()
d.addSphere(center=(0,0,0), radius=geom.float_data[0])
return d.getPolyData()
elif geom.type == lcmrl.viewer_geometry_data_t.CYLINDER:
d = DebugData()
d.addCylinder(center=(0,0,0), axis=(0,0,1), radius=geom.float_data[0], length=geom.float_data[1])
return d.getPolyData()
elif geom.type == lcmrl.viewer_geometry_data_t.CAPSULE:
d = DebugData()
radius = geom.float_data[0]
length = geom.float_data[1]
d.addCylinder(center=(0,0,0), axis=(0,0,1), radius=radius, length=length)
d.addSphere(center=(0,0,length/2.0), radius=radius)
d.addSphere(center=(0,0,-length/2.0), radius=radius)
return d.getPolyData()
elif hasattr(lcmrl.viewer_geometry_data_t, "ELLIPSOID") and geom.type == lcmrl.viewer_geometry_data_t.ELLIPSOID:
d = DebugData()
radii = geom.float_data[0:3]
d.addEllipsoid(center=(0,0,0), radii=radii)
return d.getPolyData()
raise Exception('Unsupported geometry type: %s' % geom.type)
def createEllipsoid(params):
d = DebugData()
color = params.get("color", DEFAULT_COLOR)[:3]
radii = params["radii"]
d.addEllipsoid(center=(0, 0, 0), radii=radii, color=color)
return [d.getPolyData()]
d.addSphere([0, 0, 0], radius=0.3) show(d, (6, 0, 0)) d = DebugData() d.addFrame(vtk.vtkTransform(), scale=0.5, tubeRadius=0.03) show(d, (0, 2, 0)) d = DebugData() d.addArrow((0, 0, 0), (0, 1, 0)) show(d, (2, 2, 0)) d = DebugData() d.addEllipsoid((0, 0, 0), radii=(0.5, 0.35, 0.2)) show(d, (4, 2, 0)) d = DebugData() d.addTorus(radius=0.5, thickness=0.2) show(d, (6, 2, 0)) d = DebugData() d.addCone(origin=(0,0,0), normal=(0,1,0), radius=0.3, height=0.8, color=[1, 1, 0]) show(d, (0, 4, 0)) d = DebugData() d.addCube(dimensions=[0.8, 0.5, 0.3], center=[0, 0, 0], color=[0, 1, 1])
def createEllipsoid(params):
d = DebugData()
color = params.get("color", DEFAULT_COLOR)[:3]
radii = params["radii"]
d.addEllipsoid(center=(0, 0, 0), radii=radii, color=color)
return [d.getPolyData()]
def createEllipsoid(params):
d = DebugData()
radii = params["radii"]
d.addEllipsoid(center=(0, 0, 0), radii=radii)
return [d.getPolyData()]
