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[plotting] refactor/rename, finalize, finish plotting APIs
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@madratman
madratman committed Nov 12, 2019
1 parent 7dbefce commit 317d4d9
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Showing 8 changed files with 120 additions and 99 deletions.
9 changes: 4 additions & 5 deletions AirLib/include/api/RpcLibClientBase.hpp
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Expand Up @@ -63,11 +63,10 @@ class RpcLibClientBase {
void simPlotPoints(const vector<Vector3r>& points, const vector<float>& color_rgba, float size, float duration, bool is_persistent);
void simPlotLineStrip(const vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent);
void simPlotLineList(const vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent);
void simPlotArrowList(const vector<Vector3r>& points_start, const vector<Vector3r>& points_end, const vector<float>& color_rgba, float thickness, float arrow_size, float duration, bool is_persistent);
void simPlotTransform(const vector<Pose>& poses, float scale, float thickness, float duration, bool is_persistent);
// void simPlotTransformAndName(const vector<Pose>& poses, const vector<std::string>& names, float tf_scale, float text_scale, const vector<float>& text_color, float duration, bool is_persistent);
void simPlotStrings(const vector<Vector3r>& positions, const vector<std::string>& strings, float scale, const vector<float>& color_rgba, float duration, bool is_persistent);
// void simPlotStringOnActor(const vector<Pose>& pose, const std::string<std::string>& strings, const std::string actor_name, float scale, const vector<float>& color_rgba, float duration, bool is_persistent);
void simPlotArrows(const vector<Vector3r>& points_start, const vector<Vector3r>& points_end, const vector<float>& color_rgba, float thickness, float arrow_size, float duration, bool is_persistent);
void simPlotStrings(const vector<std::string>& strings, const vector<Vector3r>& positions, float scale, const vector<float>& color_rgba, float duration);
void simPlotTransforms(const vector<Pose>& poses, float scale, float thickness, float duration, bool is_persistent);
void simPlotTransformsWithNames(const vector<Pose>& poses, const vector<std::string>& names, float tf_scale, float tf_thickness, float text_scale, const vector<float>& text_color_rgba, float duration);

bool armDisarm(bool arm, const std::string& vehicle_name = "");
bool isApiControlEnabled(const std::string& vehicle_name = "") const;
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15 changes: 7 additions & 8 deletions AirLib/include/api/WorldSimApiBase.hpp
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Expand Up @@ -43,14 +43,13 @@ class WorldSimApiBase {
const std::string& message_param = "", unsigned char severity = 0) = 0;

//----------- Plotting APIs ----------/
virtual void simPlotPoints(const std::vector<Vector3r>& points, const vector<float>& color_rgba, float size, float duration, bool is_persistent) = 0;
virtual void simPlotLineStrip(const std::vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent) = 0;
virtual void simPlotLineList(const std::vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent) = 0;
virtual void simPlotArrowList(const std::vector<Vector3r>& points_start, const std::vector<Vector3r>& points_end, const vector<float>& color_rgba, float thickness, float arrow_size, float duration, bool is_persistent) = 0;
virtual void simPlotTransform(const std::vector<Pose>& poses, float scale, float thickness, float duration, bool is_persistent) = 0;
// virtual void simPlotTransformAndName(const std::vector<Pose>& poses, const std::vector<std::string>& names, float tf_scale, float text_scale, const vector<float>& text_color, float duration, bool is_persistent) = 0;
virtual void simPlotStrings(const std::vector<Vector3r>& position, const std::vector<std::string>& strings, float scale, const vector<float>& color_rgba, float duration, bool is_persistent) = 0;
// virtual void simPlotStringOnActor(const std::vector<Pose>& pose, const std::string<std::string>& strings, const std::string actor_name, float scale, const vector<float>& color_rgba, float duration, bool is_persistent) = 0;
virtual void simPlotPoints(const vector<Vector3r>& points, const vector<float>& color_rgba, float size, float duration, bool is_persistent) = 0;
virtual void simPlotLineStrip(const vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent) = 0;
virtual void simPlotLineList(const vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent) = 0;
virtual void simPlotArrows(const vector<Vector3r>& points_start, const vector<Vector3r>& points_end, const vector<float>& color_rgba, float thickness, float arrow_size, float duration, bool is_persistent) = 0;
virtual void simPlotStrings(const vector<std::string>& strings, const vector<Vector3r>& positions, float scale, const vector<float>& color_rgba, float duration) = 0;
virtual void simPlotTransforms(const vector<Pose>& poses, float scale, float thickness, float duration, bool is_persistent) = 0;
virtual void simPlotTransformsWithNames(const vector<Pose>& poses, const vector<std::string>& names, float tf_scale, float tf_thickness, float text_scale, const vector<float>& text_color_rgba, float duration) = 0;

virtual std::vector<std::string> listSceneObjects(const std::string& name_regex) const = 0;
virtual Pose getObjectPose(const std::string& object_name) const = 0;
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35 changes: 16 additions & 19 deletions AirLib/src/api/RpcLibClientBase.cpp
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Expand Up @@ -263,39 +263,36 @@ void RpcLibClientBase::simPlotLineList(const vector<Vector3r>& points, const vec
pimpl_->client.call("simPlotLineList", conv_points, color_rgba, thickness, duration, is_persistent);
}

void RpcLibClientBase::simPlotArrowList(const vector<Vector3r>& points_start, const vector<Vector3r>& points_end, const vector<float>& color_rgba, float thickness, float arrow_size, float duration, bool is_persistent)
void RpcLibClientBase::simPlotArrows(const vector<Vector3r>& points_start, const vector<Vector3r>& points_end, const vector<float>& color_rgba, float thickness, float arrow_size, float duration, bool is_persistent)
{
vector<RpcLibAdapatorsBase::Vector3r> conv_points_start;
RpcLibAdapatorsBase::from(points_start, conv_points_start);
vector<RpcLibAdapatorsBase::Vector3r> conv_points_end;
RpcLibAdapatorsBase::from(points_end, conv_points_end);
pimpl_->client.call("simPlotArrowList", conv_points_start, conv_points_end, color_rgba, thickness, arrow_size, duration, is_persistent);

pimpl_->client.call("simPlotArrows", conv_points_start, conv_points_end, color_rgba, thickness, arrow_size, duration, is_persistent);
}

void RpcLibClientBase::simPlotTransform(const vector<Pose>& poses, float scale, float thickness, float duration, bool is_persistent)
void RpcLibClientBase::simPlotStrings(const vector<std::string>& strings, const vector<Vector3r>& positions, float scale, const vector<float>& color_rgba, float duration)
{
vector<RpcLibAdapatorsBase::Vector3r> conv_positions;
RpcLibAdapatorsBase::from(positions, conv_positions);
pimpl_->client.call("simPlotStrings", strings, conv_positions, scale, color_rgba, duration);
}

void RpcLibClientBase::simPlotTransforms(const vector<Pose>& poses, float scale, float thickness, float duration, bool is_persistent)
{
vector<RpcLibAdapatorsBase::Pose> conv_poses;
RpcLibAdapatorsBase::from(poses, conv_poses);
pimpl_->client.call("simPlotTransform", conv_poses, scale, thickness, duration, is_persistent);
pimpl_->client.call("simPlotTransforms", conv_poses, scale, thickness, duration, is_persistent);
}

// void RpcLibClientBase::simPlotTransformAndNames(const vector<Pose>& poses, const vector<std::string>& names, float tf_scale, float text_scale, const vector<float>& text_color, float duration, bool is_persistent)
// {

// }

void RpcLibClientBase::simPlotStrings(const vector<Vector3r>& positions, const vector<std::string>& strings, float scale, const vector<float>& color_rgba, float duration, bool is_persistent)
void RpcLibClientBase::simPlotTransformsWithNames(const vector<Pose>& poses, const vector<std::string>& names, float tf_scale, float tf_thickness, float text_scale, const vector<float>& text_color_rgba, float duration)
{
vector<RpcLibAdapatorsBase::Vector3r> conv_positions;
RpcLibAdapatorsBase::from(positions, conv_positions);
pimpl_->client.call("simPlotStrings", conv_positions, strings, scale, color_rgba, duration, is_persistent);
}
vector<RpcLibAdapatorsBase::Pose> conv_poses;
RpcLibAdapatorsBase::from(poses, conv_poses);
pimpl_->client.call("simPlotTransformsWithNames", conv_poses, names, tf_scale, tf_thickness, text_scale, text_color_rgba, duration);

// void RpcLibClientBase::simPlotStringOnActor(const vector<Pose>& pose, const std::string<std::string>& strings, const std::string actor_name, float scale, const vector<float>& color_rgba, float duration, bool is_persistent)
// {

// }
}

bool RpcLibClientBase::simIsPaused() const
{
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33 changes: 14 additions & 19 deletions AirLib/src/api/RpcLibServerBase.cpp
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Expand Up @@ -237,33 +237,28 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
RpcLibAdapatorsBase::to(points, conv_points);
getWorldSimApi()->simPlotLineList(conv_points, color_rgba, thickness, duration, is_persistent);
});
pimpl_->server.bind("simPlotArrowList", [&](const std::vector<RpcLibAdapatorsBase::Vector3r>& points_start, const std::vector<RpcLibAdapatorsBase::Vector3r>& points_end, const vector<float>& color_rgba, float thickness, float arrow_size, float duration, bool is_persistent) -> void {
pimpl_->server.bind("simPlotArrows", [&](const std::vector<RpcLibAdapatorsBase::Vector3r>& points_start, const std::vector<RpcLibAdapatorsBase::Vector3r>& points_end, const vector<float>& color_rgba, float thickness, float arrow_size, float duration, bool is_persistent) -> void {
vector<Vector3r> conv_points_start;
RpcLibAdapatorsBase::to(points_start, conv_points_start);
vector<Vector3r> conv_points_end;
RpcLibAdapatorsBase::to(points_end, conv_points_end);
getWorldSimApi()->simPlotArrowList(conv_points_start, conv_points_end, color_rgba, thickness, arrow_size, duration, is_persistent);
getWorldSimApi()->simPlotArrows(conv_points_start, conv_points_end, color_rgba, thickness, arrow_size, duration, is_persistent);
});
pimpl_->server.bind("simPlotTransform", [&](const std::vector<RpcLibAdapatorsBase::Pose>& poses, float scale, float thickness, float duration, bool is_persistent) -> void {
vector<Pose> conv_poses;
RpcLibAdapatorsBase::to(poses, conv_poses);
getWorldSimApi()->simPlotTransform(conv_poses, scale, thickness, duration, is_persistent);
});
// pimpl_->server.bind("simPlotTransformAndNames", [&](const std::vector<RpcLibAdapatorsBase::Pose>& poses, const std::vector<std::string> names, float tf_scale, float text_scale, const vector<float>& text_color, float duration, bool is_persistent) -> void {
// vector<Pose> conv_poses;
// RpcLibAdapatorsBase::to(poses, conv_poses);
// getWorldSimApi()->simPlotTransformAndNames(conv_poses, names, tf_scale, text_scale, text_color, duration, is_persistent);
// });
pimpl_->server.bind("simPlotStrings", [&](const std::vector<RpcLibAdapatorsBase::Vector3r>& positions, const std::vector<std::string> strings, float scale, const vector<float>& color_rgba, float duration, bool is_persistent) -> void {
pimpl_->server.bind("simPlotStrings", [&](const std::vector<std::string> strings, const std::vector<RpcLibAdapatorsBase::Vector3r>& positions, float scale, const vector<float>& color_rgba, float duration) -> void {
vector<Vector3r> conv_positions;
RpcLibAdapatorsBase::to(positions, conv_positions);
getWorldSimApi()->simPlotStrings(conv_positions, strings, scale, color_rgba, duration, is_persistent);
getWorldSimApi()->simPlotStrings(strings, conv_positions, scale, color_rgba, duration);
});
pimpl_->server.bind("simPlotTransforms", [&](const std::vector<RpcLibAdapatorsBase::Pose>& poses, float scale, float thickness, float duration, bool is_persistent) -> void {
vector<Pose> conv_poses;
RpcLibAdapatorsBase::to(poses, conv_poses);
getWorldSimApi()->simPlotTransforms(conv_poses, scale, thickness, duration, is_persistent);
});
pimpl_->server.bind("simPlotTransformsWithNames", [&](const std::vector<RpcLibAdapatorsBase::Pose>& poses, const std::vector<std::string> names, float tf_scale, float tf_thickness, float text_scale, const vector<float>& text_color_rgba, float duration) -> void {
vector<Pose> conv_poses;
RpcLibAdapatorsBase::to(poses, conv_poses);
getWorldSimApi()->simPlotTransformsWithNames(conv_poses, names, tf_scale, tf_thickness, text_scale, text_color_rgba, duration);
});
// pimpl_->server.bind("simPlotStringOnActor", [&](const std::vector<RpcLibAdapatorsBase::Vector3r>& positions, const std::vector<std::string> strings, const std::string actor_name, float scale, const vector<float>& color_rgba, float duration, bool is_persistent) -> void {
// vector<Vector3r> conv_positions;
// RpcLibAdapatorsBase::to(positions, conv_positions);
// getWorldSimApi()->simPlotStringOnActor(conv_positions, strings, scale, color_rgba, duration, is_persistent);
// });
pimpl_->server.bind("simGetGroundTruthKinematics", [&](const std::string& vehicle_name) -> RpcLibAdapatorsBase::KinematicsState {
const Kinematics::State& result = *getVehicleSimApi(vehicle_name)->getGroundTruthKinematics();
return RpcLibAdapatorsBase::KinematicsState(result);
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