Drake
Drake C++ Documentation
DrakeVisualizerParams Struct Reference

Detailed Description

The set of parameters for configuring DrakeVisualizer.

#include <drake/geometry/drake_visualizer_params.h>

Public Member Functions

template<typename Archive >
void Serialize (Archive *a)
 Passes this object to an Archive. More...
 

Public Attributes

double publish_period {1 / 64.0}
 The duration (in seconds) between published LCM messages that update the poses of the scene's geometry. More...
 
Role role {Role::kIllustration}
 The role of the geometries to be sent to the visualizer. More...
 
Rgba default_color {0.9, 0.9, 0.9, 1.0}
 The color to apply to any geometry that hasn't defined one. More...
 
bool show_hydroelastic {false}
 When using the hydroelastic contact model, collision geometries that are declared as geometric primitives are frequently represented by some discretely tessellated mesh when computing contact. More...
 
bool use_role_channel_suffix {false}
 Setting this to true will cause LCM channel names to have a suffix appended, allowing simultaneous transmission of multiple geometry roles via multiple DrakeVisualizer instances. More...
 

Member Function Documentation

◆ Serialize()

void Serialize ( Archive *  a)

Passes this object to an Archive.

Refer to YAML Serialization for background.

Member Data Documentation

◆ default_color

Rgba default_color {0.9, 0.9, 0.9, 1.0}

The color to apply to any geometry that hasn't defined one.

◆ publish_period

double publish_period {1 / 64.0}

The duration (in seconds) between published LCM messages that update the poses of the scene's geometry.

(To help avoid small simulation timesteps, we use a default period that has an exact representation in binary floating point; see drake#15021 for details.)

◆ role

The role of the geometries to be sent to the visualizer.

◆ show_hydroelastic

bool show_hydroelastic {false}

When using the hydroelastic contact model, collision geometries that are declared as geometric primitives are frequently represented by some discretely tessellated mesh when computing contact.

It can be quite helpful in assessing contact behavior to visualize these discrete meshes (in place of the idealized primitives).

To visualize these representations it is necessary to request visualization of geometries with the Role::kProximity role (see the role field). It is further necessary to explicitly request the hydroelastic meshes where available (setting show_hydroelastic to true).

Setting this show_hydroelastic to true will have no apparent effect if none of the collision meshes have a hydroelastic mesh associated with them.

◆ use_role_channel_suffix

bool use_role_channel_suffix {false}

Setting this to true will cause LCM channel names to have a suffix appended, allowing simultaneous transmission of multiple geometry roles via multiple DrakeVisualizer instances.

See DrakeVisualizer for details.


The documentation for this struct was generated from the following file: