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Drake
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Drake
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The set of parameters for configuring Meshcat.
#include <drake/geometry/meshcat_params.h>
Classes | |
| struct | PropertyTuple |
A helper struct for the initial_properties params. More... | |
Public Member Functions | |
| template<typename Archive > | |
| void | Serialize (Archive *a) |
| Passes this object to an Archive. More... | |
Public Attributes | |
| std::string | host {"*"} |
| Meshcat will listen only on the given hostname (e.g., "localhost"). More... | |
| std::optional< int > | port {std::nullopt} |
Meshcat will listen on the given http port. More... | |
| std::string | web_url_pattern {"http://{host}:{port}"} |
The web_url_pattern may be used to change the web_url() (and therefore the ws_url()) reported by Meshcat. More... | |
| std::vector< PropertyTuple > | initial_properties |
| Configures the initial conditions for Meshcat. More... | |
| bool | show_stats_plot {true} |
| Determines whether or not to display the stats plot widget in the Meshcat user interface. More... | |
| double | realtime_rate_period {0.25} |
| The minimum period of wall clock time (in seconds) between updates to the broadcast realtime rate. More... | |
| void Serialize | ( | Archive * | a | ) |
Passes this object to an Archive.
Refer to YAML Serialization for background.
| std::string host {"*"} |
Meshcat will listen only on the given hostname (e.g., "localhost").
If "*" is specified, then it will listen on all interfaces. If empty, an appropriate default value will be chosen (currently "*").
| std::vector<PropertyTuple> initial_properties |
Configures the initial conditions for Meshcat.
These properties will be applied immediately during construction. This can be used to change defaults such as background, lighting, etc.
In other words, instead calling the Meshcat() constructor and then immediately making a bunch of SetProperty(path, property, value) calls to configure the newly-created object, instead you can append those (path, property, value) to to this list, and the Meshcat() constructor will take care of it.
| std::optional<int> port {std::nullopt} |
Meshcat will listen on the given http port.
If no port is specified, then it will listen on the first available port starting at 7000 (up to 7999). If port 0 is specified, it will listen on an arbitrary "ephemeral" port.
port == 0 || port >= 1024. | double realtime_rate_period {0.25} |
The minimum period of wall clock time (in seconds) between updates to the broadcast realtime rate.
If the period is too short, the reported realtime rate can become visually noisy. Too long, and acute changes in performance may be masked. It must be strictly positive.
Meshcat promises to broadcast messages to clients at this fixed period. See Meshcat::SetSimulationTime() for details.
| bool show_stats_plot {true} |
Determines whether or not to display the stats plot widget in the Meshcat user interface.
This plot including realtime rate and WebGL render statistics.
The web_url_pattern may be used to change the web_url() (and therefore the ws_url()) reported by Meshcat.
This may be useful in case Meshcat sits behind a firewall or proxy.
The pattern follows the std::format specification language, except that arg-id substitutions are performed using named arguments instead of positional indices.
There are two arguments available to the pattern:
{port} will be substituted with the Meshcat server's listen port number;{host} will be substituted with this params structure's host field, or else with "localhost" in case the host was one of the placeholders for "all interfaces".