drake::visualization Namespace Reference

Classes
class	ColorizeDepthImage
	ColorizeDepthImage converts a depth image, either 32F or 16U, to a color image. More...
class	ColorizeLabelImage
	ColorizeLabelImage converts a label image to a color image. More...
class	ConcatenateImages
	ConcatenateImages stacks multiple input images into a single output image. More...
class	InertiaVisualizer
	InertiaVisualizer provides illustration geometry to reflect the equivalent inertia of all bodies in a MultibodyPlant that are not welded to the world. More...
class	MeshcatPoseSliders
	MeshcatPoseSliders adds slider bars to the MeshCat control panel for the roll, pitch, yaw, x, y, z control of a pose. More...
struct	VisualizationConfig
	Settings for what MultibodyPlant and SceneGraph should send to Meshcat and/or Meldis. More...

Functions
void	ApplyVisualizationConfig (const VisualizationConfig &config, systems::DiagramBuilder< double > *builder, const systems::lcm::LcmBuses *lcm_buses=nullptr, const multibody::MultibodyPlant< double > *plant=nullptr, geometry::SceneGraph< double > *scene_graph=nullptr, std::shared_ptr< geometry::Meshcat > meshcat=nullptr, lcm::DrakeLcmInterface *lcm=nullptr)
	Adds LCM visualization publishers to communicate to Meshcat and/or Meldis.
void	AddDefaultVisualization (systems::DiagramBuilder< double > *builder, std::shared_ptr< geometry::Meshcat > meshcat=nullptr)
	Adds LCM visualization publishers to communicate to Meshcat and/or Meldis, using all of the default configuration settings.

Function Documentation

AddDefaultVisualization()

void AddDefaultVisualization	(	systems::DiagramBuilder< double > *	builder,
		std::shared_ptr< geometry::Meshcat >	meshcat = nullptr )

Adds LCM visualization publishers to communicate to Meshcat and/or Meldis, using all of the default configuration settings.

Parameters

meshcat

An optional existing Meshcat instance. (If nullptr, then a meshcat instance will be created.)

Example

// Create a builder.
DiagramBuilder<double> builder;
 
// Add the MultibodyPlant and SceneGraph.
const MultibodyPlantConfig plant_config = ...;
MultibodyPlant<double>& plant = AddMultibodyPlant(plant_config, &builder);
// ... populate the plant, e.g., with a Parser, ...
plant.Finalize();
 
// Add the visualization.
AddDefaultVisualization(&builder);
 
// Simulate.
Simulator<double> simulator(builder.Build());
// ... etc ...

Precondition

AddMultibodyPlant() or AddMultibodyPlantSceneGraph() has already been called on the given builder.

The MultibodyPlant in the given builder is already finalized, as in plant.Finalize().

See also

drake::visualization::ApplyVisualizationConfig()

drake::multibody::AddMultibodyPlant()

ApplyVisualizationConfig()

void ApplyVisualizationConfig	(	const VisualizationConfig &	config,
		systems::DiagramBuilder< double > *	builder,
		const systems::lcm::LcmBuses *	lcm_buses = nullptr,
		const multibody::MultibodyPlant< double > *	plant = nullptr,
		geometry::SceneGraph< double > *	scene_graph = nullptr,
		std::shared_ptr< geometry::Meshcat >	meshcat = nullptr,
		lcm::DrakeLcmInterface *	lcm = nullptr )

Adds LCM visualization publishers to communicate to Meshcat and/or Meldis.

Example

// Create a builder.
DiagramBuilder<double> builder;
 
// Add the MultibodyPlant and SceneGraph.
const MultibodyPlantConfig plant_config = ...;
MultibodyPlant<double>& plant = AddMultibodyPlant(plant_config, &builder);
// ... populate the plant, e.g., with a Parser, ...
plant.Finalize();
 
// Add the visualization.
const VisualizationConfig vis_config = ...;
ApplyVisualizationConfig(vis_config, &builder);
 
// Simulate.
Simulator<double> simulator(builder.Build());
// ... etc ...

Parameters

[in]	config	The visualization configuration.
[in,out]	builder	The diagram to add visualization systems into.
[in]	lcm_buses	(Optional) The available LCM buses to use for visualization message publication. When not provided, uses the lcm interface if provided, or else the config.lcm_bus must be set to "default" in which case an appropriate drake::lcm::DrakeLcm object is constructed and used internally.
[in]	plant	(Optional) The MultibodyPlant to visualize. In the common case where a MultibodyPlant has already been added to builder using either AddMultibodyPlant() or AddMultibodyPlantSceneGraph(), the default value (nullptr) here is suitable and generally should be preferred. When provided, it must be a System that's been added to the the given builder. When not provided, visualizes the system named "plant" in the given builder.
[in]	scene_graph	(Optional) The SceneGraph to visualize. In the common case where a SceneGraph has already been added to builder using either AddMultibodyPlant() or AddMultibodyPlantSceneGraph(), the default value (nullptr) here is suitable and generally should be preferred. When provided, it must be a System that's been added to the the given builder. When not provided, visualizes the system named "scene_graph" in the given builder.
[in]	meshcat	(Optional) A Meshcat object for visualization message publication. When not provided, a Meshcat object will be created unless config.enable_meshcat_creation is set to false.
[in]	lcm	(Optional) The LCM interface used for visualization message publication. When not provided, uses the config.lcm_bus value to look up the appropriate interface from lcm_buses.

Precondition

The builder is non-null.

Either the config.lcm_bus is set to "default", or else lcm_buses is non-null and contains a bus named config.lcm_bus, or else lcm is non-null.

Either the given builder contains a MultibodyPlant system named "plant" or else the provided plant is non-null.

Either the given builder contains a SceneGraph system named "scene_graph" or else the provided scene_graph is non-null.

The MultibodyPlant is already finalized, as in plant.Finalize().

See also

drake::visualization::AddDefaultVisualization()

drake::multibody::AddMultibodyPlant()

drake::systems::lcm::ApplyLcmBusConfig()