Drake
Drake C++ Documentation
MeshcatVisualizerParams Struct Reference

Detailed Description

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 Meschat::Delete(prefix) message on an initialization event to remove any visualizations e.g. 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.

◆ delete_on_initialization_event

bool delete_on_initialization_event {true}

Determines whether to send a Meschat::Delete(prefix) message on an initialization event to remove any visualizations e.g.

from a previous simulation. See Declare initializationevents" for more information.

◆ prefix

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.

◆ publish_period

double publish_period {1 / 64.0}

The duration (in simulation seconds) between attempts to update poses in the visualizer.

(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.


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