Description

VSG-based run-time visualization system for ChParserURDF.

Used as a plugin to a Chrono::VSG visualization system.

#include <ChParserURDFVisualizationVSG.h>

Inheritance diagram for chrono::parsers::ChParserURDFVisualizationVSG:

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Collaboration diagram for chrono::parsers::ChParserURDFVisualizationVSG:

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Public Member Functions
	ChParserURDFVisualizationVSG (const ChParserURDF &urdf)

virtual void	OnAttach () override
	Allow this plugin to perform any operations when it is attached to a VSG visual system. More...

virtual void	OnInitialize () override
	Allow this plugin to perform any pre-initialization operations. More...

virtual void	OnBindAssets () override
	Allow this plugin to perform any pre-binding operations. More...

virtual void	OnRender () override
	Allow this plugin to perform any pre-rendering operations. More...

void	SetImageOutputDirectory (const std::string &dir)
	Set output directory for saving frame snapshots (default: ".").

void	SetImageOutput (bool val)
	Enable/disable writing of frame snapshots to file.

Public Member Functions inherited from chrono::vsg3d::ChVisualSystemVSGPlugin
void	AddEventHandler (std::shared_ptr< ChEventHandlerVSG > eh)
	TODO - remove AddEventHandler? A plugin can call the VSG system's AddEventHandler in its OnAttach() function. More...

ChVisualSystemVSG &	GetVisualSystemVSG () const
	Get a reference to the VSG visual system to which the plugin was attached.

Friends
class	ChParserURDFStats

Additional Inherited Members
Protected Attributes inherited from chrono::vsg3d::ChVisualSystemVSGPlugin
std::vector< std::shared_ptr< ChEventHandlerVSG > >	m_evhandler
	list of all additional event handlers

ChVisualSystemVSG *	m_vsys
	associated VSG visual system

Member Function Documentation

◆ OnAttach()

void chrono::parsers::ChParserURDFVisualizationVSG::OnAttach ( )

overridevirtual

Allow this plugin to perform any operations when it is attached to a VSG visual system.

The pointer m_vsys to the associated VSG visual system is set before calling OnAttach.

Reimplemented from chrono::vsg3d::ChVisualSystemVSGPlugin.

◆ OnBindAssets()

void chrono::parsers::ChParserURDFVisualizationVSG::OnBindAssets ( )

overridevirtual

Allow this plugin to perform any pre-binding operations.

This function is called during initialization of the associated VSG visual system, after the scene was created and before binding assets for the associated VSG visual system. A plugin can create and populate its own children in the VSG scene.

Reimplemented from chrono::vsg3d::ChVisualSystemVSGPlugin.