|
Drake
|
|
Drake
|
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... | |
| void Serialize | ( | Archive * | a | ) |
Passes this object to an Archive.
Refer to YAML Serialization for background.
| Rgba default_color {0.9, 0.9, 0.9, 1.0} |
The color to apply to any geometry that hasn't defined one.
| 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 time steps, we use a default period that has an exact representation in binary floating point; see drake#15021 for details.)
| Role role {Role::kIllustration} |
The role of the geometries to be sent to the visualizer.
| 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.
| 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.