From ad965e494da6d0985bd63200da01c71f055acb3a Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Sat, 27 Apr 2019 22:43:10 -0700
Subject: [PATCH] Enable robot update on/off to osgPointCloud example

---
 examples/osgExamples/osgPointCloud/main.cpp | 25 +++++++++++++++++++++
 1 file changed, 25 insertions(+)

diff --git a/examples/osgExamples/osgPointCloud/main.cpp b/examples/osgExamples/osgPointCloud/main.cpp
index 7af169f63cead..942ebf56088bc 100644
--- a/examples/osgExamples/osgPointCloud/main.cpp
+++ b/examples/osgExamples/osgPointCloud/main.cpp
@@ -72,6 +72,9 @@ class PointCloudWorld : public gui::osg::WorldNode
     if (!mRobot)
       return;
 
+    if (!mUpdate)
+      return;
+
     // Set robot pose
     Eigen::VectorXd pos = mRobot->getPositions();
     pos += 0.01 * Eigen::VectorXd::Random(pos.size());
@@ -105,11 +108,22 @@ class PointCloudWorld : public gui::osg::WorldNode
   {
     return mPointCloudVisualAspect;
   }
+
   dynamics::VisualAspect* getVoxelGridVisualAspect()
   {
     return mVoxelGridVisualAspect;
   }
 
+  void setUpdate(bool update)
+  {
+    mUpdate = update;
+  }
+
+  bool getUpdate() const
+  {
+    return mUpdate;
+  }
+
 protected:
   octomap::Pointcloud generatePointCloud(std::size_t numPoints)
   {
@@ -173,6 +187,8 @@ class PointCloudWorld : public gui::osg::WorldNode
 
   dynamics::VisualAspect* mPointCloudVisualAspect;
   dynamics::VisualAspect* mVoxelGridVisualAspect;
+
+  bool mUpdate{true};
 };
 
 class PointCloudWidget : public dart::gui::osg::ImGuiWidget
@@ -247,6 +263,15 @@ class PointCloudWidget : public dart::gui::osg::ImGuiWidget
         if (ImGui::RadioButton("Pause", &e, 1) && mViewer->isSimulating())
           mViewer->simulate(false);
       }
+
+      int robotUpdate = mNode->getUpdate() ? 0 : 1;
+      if (ImGui::RadioButton("Run Robot Updating", &robotUpdate, 0)
+          && mNode->getUpdate())
+        mNode->setUpdate(true);
+      ImGui::SameLine();
+      if (ImGui::RadioButton("Stop Robot Updating", &robotUpdate, 1)
+          && mNode->getUpdate())
+        mNode->setUpdate(false);
     }
 
     if (ImGui::CollapsingHeader("View", ImGuiTreeNodeFlags_DefaultOpen))