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Drake
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Drake
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Settings for what MultibodyPlant and SceneGraph should send to Meshcat and/or Meldis.
See ApplyVisualizationConfig() for how to enact this configuration.
#include <drake/visualization/visualization_config.h>
Public Member Functions | |
| template<typename Archive> | |
| void | Serialize (Archive *a) |
Public Attributes | |
| std::string | lcm_bus {"default"} |
| Which LCM URL to use. | |
| double | publish_period {1 / 64.0} |
| The duration (in seconds) between published LCM messages that update visualization. | |
| bool | publish_illustration {true} |
| Whether to show illustration geometry. | |
| geometry::Rgba | default_illustration_color {0.9, 0.9, 0.9, 1.0} |
| The color to apply to any illustration geometry that hasn't defined one. | |
| bool | publish_proximity {true} |
| Whether to show proximity geometry. | |
| geometry::Rgba | default_proximity_color {0.8, 0, 0, 1.0} |
| The color to apply to any proximity geometry that hasn't defined one. | |
| double | initial_proximity_alpha {0.5} |
| The initial value of the proximity alpha slider. | |
| bool | publish_inertia {true} |
| Whether to show body inertia. | |
| bool | publish_contacts {true} |
| Whether to show contact forces. | |
| bool | enable_meshcat_creation {true} |
| Whether to create a Meshcat object if needed. | |
| bool | delete_on_initialization_event {true} |
| Determines whether to send a Meshcat::Delete() messages to the Meshcat object (if any) on an initialization event to remove any visualizations, e.g., from a previous simulation. | |
| bool | enable_alpha_sliders {false} |
| Determines whether to enable alpha sliders for geometry display. | |
| void Serialize | ( | Archive * | a | ) |
| geometry::Rgba default_illustration_color {0.9, 0.9, 0.9, 1.0} |
The color to apply to any illustration geometry that hasn't defined one.
The vector must be of size three (rgb) or four (rgba).
| geometry::Rgba default_proximity_color {0.8, 0, 0, 1.0} |
The color to apply to any proximity geometry that hasn't defined one.
The vector must be of size three (rgb) or four (rgba).
| bool delete_on_initialization_event {true} |
Determines whether to send a Meshcat::Delete() messages to the Meshcat object (if any) on an initialization event to remove any visualizations, e.g., from a previous simulation.
| bool enable_alpha_sliders {false} |
Determines whether to enable alpha sliders for geometry display.
| bool enable_meshcat_creation {true} |
Whether to create a Meshcat object if needed.
| double initial_proximity_alpha {0.5} |
The initial value of the proximity alpha slider.
Note: the effective transparency of the proximity geometry is the slider value multiplied by the alpha value of default_proximity_color. To have access to the full range of opacity, the color's alpha value should be one and the slider should be used to change it.
| std::string lcm_bus {"default"} |
Which LCM URL to use.
| bool publish_contacts {true} |
Whether to show contact forces.
| bool publish_illustration {true} |
Whether to show illustration geometry.
| bool publish_inertia {true} |
Whether to show body inertia.
| double publish_period {1 / 64.0} |
The duration (in seconds) between published LCM messages that update visualization.
(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.)
| bool publish_proximity {true} |
Whether to show proximity geometry.