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78 lines
2.6 KiB
78 lines
2.6 KiB
2 years ago
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#pragma once
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#include <string>
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#include <Eigen/Dense>
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#include "drake/common/name_value.h"
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#include "drake/geometry/rgba.h"
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namespace drake {
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namespace visualization {
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// TODO(jwnimmer-tri or trowell-tri) Add an option to disable LCM entirely.
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/** Settings for what MultibodyPlant and SceneGraph should send to meldis
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and/or drake_visualizer.
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@experimental The exact configuration details (names and types) are subject to
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change as we polish this new feature.
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See ApplyVisualizationConfig() for how to enact this configuration. */
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struct VisualizationConfig {
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template <typename Archive>
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void Serialize(Archive* a) {
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a->Visit(DRAKE_NVP(lcm_bus));
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a->Visit(DRAKE_NVP(publish_period));
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a->Visit(DRAKE_NVP(publish_illustration));
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a->Visit(DRAKE_NVP(default_illustration_color));
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a->Visit(DRAKE_NVP(publish_proximity));
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a->Visit(DRAKE_NVP(default_proximity_color));
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a->Visit(DRAKE_NVP(publish_contacts));
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a->Visit(DRAKE_NVP(enable_meshcat_creation));
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a->Visit(DRAKE_NVP(delete_on_initialization_event));
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a->Visit(DRAKE_NVP(enable_alpha_sliders));
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}
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/** Which LCM URL to use.
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@see drake::systems::lcm::LcmBuses */
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std::string lcm_bus{"default"};
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/** The duration (in seconds) between published LCM messages that update
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visualization. (To help avoid small simulation timesteps, we use a default
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period that has an exact representation in binary floating point;
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see drake#15021 for details.) */
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double publish_period{1 / 64.0};
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/** Whether to show illustration geometry. */
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bool publish_illustration{true};
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/** The color to apply to any illustration geometry that hasn't defined one.
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The vector must be of size three (rgb) or four (rgba). */
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geometry::Rgba default_illustration_color{0.9, 0.9, 0.9};
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/** Whether to show proximity geometry. */
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bool publish_proximity{true};
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/** The color to apply to any proximity geometry that hasn't defined one.
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The vector must be of size three (rgb) or four (rgba). */
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geometry::Rgba default_proximity_color{1, 0, 0, 0.5};
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/** Whether to show contact forces. */
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bool publish_contacts{true};
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/** Whether to create a Meshcat object if needed. */
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bool enable_meshcat_creation{true};
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/** Determines whether to send a Meshcat::Delete() messages to the Meshcat
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object (if any) on an initialization event to remove any visualizations,
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e.g., from a previous simulation, to . */
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bool delete_on_initialization_event{true};
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/** Determines whether to enable alpha sliders for geometry display. */
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bool enable_alpha_sliders{false};
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};
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} // namespace visualization
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} // namespace drake
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