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. More...

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. More...

Function Documentation

◆ AddDefaultVisualization()

void drake::visualization::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 drake::visualization::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()

Classes

Functions

Function Documentation

◆ AddDefaultVisualization()

◆ ApplyVisualizationConfig()