|
Drake
|
|
Drake
|
The set of parameters for configuring MeshcatVisualizer.
#include <drake/geometry/meshcat_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 simulation seconds) between attempts to update poses in the visualizer. 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... | |
| std::string | prefix {"visualizer"} |
| A prefix to add to the path for all objects and transforms curated by the MeshcatVisualizer. More... | |
| bool | delete_on_initialization_event {true} |
| Determines whether to send a Meshcat::Delete(prefix) message on an initialization event to remove any visualizations e.g. More... | |
| bool | enable_alpha_slider {false} |
| Determines whether to enable the alpha slider for geometry display. More... | |
| double | initial_alpha_slider_value {1.0} |
| Initial alpha slider value. More... | |
| bool | visible_by_default {true} |
| Determines whether our meshcat path should be default to being visible. 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 | include_unspecified_accepting {true} |
(Advanced) For a given geometry, if the GeometryProperties for our role has the property (meshcat, accepting) then the visualizer will show the geometry only if the property's value matches our prefix. 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.
| bool delete_on_initialization_event {true} |
Determines whether to send a Meshcat::Delete(prefix) message on an initialization event to remove any visualizations e.g.
from a previous simulation. See Declare initializationevents" for more information.
| bool enable_alpha_slider {false} |
Determines whether to enable the alpha slider for geometry display.
| bool include_unspecified_accepting {true} |
(Advanced) For a given geometry, if the GeometryProperties for our role has the property (meshcat, accepting) then the visualizer will show the geometry only if the property's value matches our prefix.
If that property is absent then the geometry will be shown only if include_unspecified_accepting is true.
| double initial_alpha_slider_value {1.0} |
Initial alpha slider value.
This value should lie in the range [0, 1]. Furthermore, the slider value is quantized which means the value used here will be replaced with the nearest quantized value supported by the slider implementation.
| std::string prefix {"visualizer"} |
A prefix to add to the path for all objects and transforms curated by the MeshcatVisualizer.
It can be an absolute path or relative path. If relative, this prefix will be appended to the Meshcat prefix based on the standard path semantics in Meshcat. See Meshcat paths for details.
| double publish_period {1 / 64.0} |
The duration (in simulation seconds) between attempts to update poses in the visualizer.
(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.
This option is ignored by MeshcatVisualizer<T> when T is not double, e.g. if T == AutoDiffXd.
| bool visible_by_default {true} |
Determines whether our meshcat path should be default to being visible.