def updatePlanFrames(self):
if self.getViewMode() != 'frames':
return
numberOfSamples = self.getNumberOfSamples()
meshes = self.planPlayback.getPlanPoseMeshes(
self.plan, self.playbackJointController, self.playbackRobotModel,
numberOfSamples)
d = DebugData()
startColor = [0.8, 0.8, 0.8]
endColor = [85 / 255.0, 255 / 255.0, 255 / 255.0]
colorFunc = scipy.interpolate.interp1d([0, numberOfSamples - 1],
[startColor, endColor],
axis=0,
kind='slinear')
for i, mesh in reversed(list(enumerate(meshes))):
d.addPolyData(mesh, color=colorFunc(i))
pd = d.getPolyData()
clean = vtk.vtkCleanPolyData()
clean.SetInput(pd)
clean.Update()
pd = clean.GetOutput()
self.planFramesObj = vis.updatePolyData(d.getPolyData(),
'robot plan',
alpha=1.0,
visible=False,
colorByName='RGB255',
parent='planning')
self.showPlanFrames()
def updatePlanFrames(self):
if self.getViewMode() != 'frames':
return
numberOfSamples = self.getNumberOfSamples()
meshes = self.planPlayback.getPlanPoseMeshes(self.plan, self.playbackJointController, self.playbackRobotModel, numberOfSamples)
d = DebugData()
startColor = [0.8, 0.8, 0.8]
endColor = [85/255.0, 255/255.0, 255/255.0]
colorFunc = scipy.interpolate.interp1d([0, numberOfSamples-1], [startColor, endColor], axis=0, kind='slinear')
for i, mesh in reversed(list(enumerate(meshes))):
d.addPolyData(mesh, color=colorFunc(i))
pd = d.getPolyData()
clean = vtk.vtkCleanPolyData()
clean.SetInput(pd)
clean.Update()
pd = clean.GetOutput()
self.planFramesObj = vis.updatePolyData(d.getPolyData(), 'robot plan', alpha=1.0, visible=False, colorByName='RGB255', parent='planning')
self.showPlanFrames()
def computeDelaunay3D(polyData):
f = vtk.vtkDelaunay3D()
f.SetInput(polyData)
f.SetOffset(100.0)
f.Update()
surface = vtk.vtkGeometryFilter()
surface.SetInput(f.GetOutput())
surface.Update()
clean = vtk.vtkCleanPolyData()
clean.SetInput(surface.GetOutput())
clean.Update()
return shallowCopy(clean.GetOutput())
def computeDelaunay3D(polyData):
f = vtk.vtkDelaunay3D()
f.SetInputData(polyData)
f.SetOffset(100.0)
f.Update()
surface = vtk.vtkGeometryFilter()
surface.SetInputData(f.GetOutput())
surface.Update()
clean = vtk.vtkCleanPolyData()
clean.SetInputData(surface.GetOutput())
clean.Update()
return shallowCopy(clean.GetOutput())
def cleanPolyData(polyData):
clean = vtk.vtkCleanPolyData()
clean.SetInput(polyData)
clean.Update()
return shallowCopy(clean.GetOutput())
def cleanPolyData(polyData):
clean = vtk.vtkCleanPolyData()
clean.SetInputData(polyData)
clean.Update()
return shallowCopy(clean.GetOutput())