Add iDynTree::MeshcatVisualizer class (#1074)

Co-authored-by: Silvio Traversaro <silvio.traversaro@iit.it>

CHANGELOG.md

@@ -8,6 +8,11 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Added
+
+- Added optional dependency on [meshcat-cpp](https://github.com/ami-iit/meshcat-cpp) (https://github.com/robotology/idyntree/pull/1074).
+- Added `iDynTree::MeshcatVisualizer` C++ class (https://github.com/robotology/idyntree/pull/1074).
+
 ## [9.0.0] - 2023-05-11
 
 ### Fixed

cmake/iDynTreeDependencies.cmake

@@ -82,6 +82,7 @@ endif ()
 
 idyntree_handle_dependency(IPOPT)
 idyntree_handle_dependency(Irrlicht DO_NOT_SILENTLY_SEARCH)
+idyntree_handle_dependency(MeshcatCpp MAIN_TARGET MeshcatCpp::MeshcatCpp DO_NOT_SILENTLY_SEARCH)
 idyntree_handle_dependency(OsqpEigen MAIN_TARGET OsqpEigen::OsqpEigen)
 idyntree_handle_dependency(ALGLIB DO_NOT_SILENTLY_SEARCH)
 set(ALGLIB_REQUIRED_VERSION 3.14.0)

doc/build-from-source.md

@@ -17,6 +17,7 @@ In case they are disabled, tipically some functionality of iDynTree is not provi
 | [irrlicht](http://irrlicht.sourceforge.net/) | No | `IDYNTREE_USES_IRRLICHT` | ✔️ | ✔️ |
 | [glfw](https://www.glfw.org/) | No | `IDYNTREE_USES_IRRLICHT` | ✔️ | ✔️ |
 | [osqp-eigen](https://github.com/robotology/osqp-eigen) | No | `IDYNTREE_USES_OSQPEIGEN` | ✔️ | ✔️ |
+| [meshcat-cpp](https://github.com/ami-iit/meshcat-cpp) | No | `IDYNTREE_USES_MESHCATCPP` | ❌ | ❌ |
 
 
 ### Install dependencies with conda-forge

src/visualization/CMakeLists.txt

@@ -37,6 +37,11 @@ if(IDYNTREE_USES_IRRLICHT)
                                                src/FloorGridSceneNode.cpp)
 endif()
 
+if(IDYNTREE_USES_MESHCATCPP)
+    set(iDynTree_visualization_header ${iDynTree_visualization_header} include/iDynTree/MeshcatVisualizer.h)
+    set(iDynTree_visualization_source  ${iDynTree_visualization_source} src/MeshcatVisualizer.cpp)
+endif()
+
 source_group("Source Files" FILES ${iDynTree_visualization_source})
 source_group("Header Files" FILES ${iDynTree_visualization_header})
 source_group("Private Source Files" FILES ${iDynTree_visualization_source})
@@ -92,6 +97,13 @@ if(IDYNTREE_USES_IRRLICHT)
     endif ()
 endif()
 
+if(IDYNTREE_USES_MESHCATCPP)
+    find_package(MeshcatCpp REQUIRED)
+    target_link_libraries(${libraryname} PRIVATE MeshcatCpp::MeshcatCpp)
+endif()
+
+
+
 install(TARGETS ${libraryname}
         EXPORT iDynTree
         RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT bin

src/visualization/include/iDynTree/MeshcatVisualizer.h

@@ -0,0 +1,81 @@
+/*
+ * Copyright (C) 2023 Fondazione Istituto Italiano di Tecnologia
+ *
+ * Licensed under either the GNU Lesser General Public License v3.0 :
+ * https://www.gnu.org/licenses/lgpl-3.0.html
+ * or the GNU Lesser General Public License v2.1 :
+ * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html
+ * at your option.
+ */
+
+#ifndef IDYNTREE_MESHCAT_VISUALIZER_H
+#define IDYNTREE_MESHCAT_VISUALIZER_H
+
+#include <memory>
+#include <string>
+
+#include <iDynTree/Core/Transform.h>
+#include <iDynTree/Core/Span.h>
+#include <iDynTree/Core/MatrixView.h>
+#include <iDynTree/Core/VectorDynSize.h>
+#include <iDynTree/Model/Model.h>
+
+namespace iDynTree
+{
+
+/**
+ *  MeshcatVisualizer is an iDynTree-based wrapper to the [meshcat-cpp](https://github.com/ami-iit/meshcat-cpp) visualizer.
+ * \note Only meshes are supported and the color is taken from the iDynTree::Model
+ */
+class MeshcatVisualizer
+{
+public:
+    MeshcatVisualizer();
+    ~MeshcatVisualizer();
+
+    /**
+     * Load a given model in the visualizer.
+     * @param model the model that should be loaded.
+     * @param modelName the name of the model used in the visualizer. Each model you add needs to have an unique name.
+     * @return True in case of success false otherwise/
+     * @warning Only meshes are supported. The support to the primary shapes needs to be added.
+     */
+    bool loadModel(const iDynTree::Model& model,
+                   const std::string& modelName);
+
+   /**
+     * Set the state of an already existing model in the visualizer.
+     * @param world_T_base pose of the base of the model.
+     * @param jointPositions position of the joints.
+     * @param modelName the name of the model specified in MeshcatVisualizer::loadModel(),
+     * @return True in case of success false otherwise.
+     */
+    bool setModelState(const iDynTree::Transform& world_T_base,
+                       const iDynTree::VectorDynSize& jointPositions,
+                       const std::string& modelName);
+
+   /**
+     * Set the state of an already existing model in the visualizer.
+     * @param world_T_base 4x4 matrix representing the homogeneous transformation,
+     * @param jointPositions position of the joints,
+     * @param modelName the name of the model specified in MeshcatVisualizer::loadModel().
+     * @return True in case of success false otherwise.
+     */
+    bool setModelState(const iDynTree::MatrixView<const double> &world_T_base,
+                       const iDynTree::Span<const double> &jointPositions,
+                       const std::string &modelName);
+
+    /**
+     * Utility function to make the meshcat interface run forever (until the user stops the
+     * application)
+     */
+    void join();
+
+private:
+    class Impl;
+    std::unique_ptr<Impl> m_pimpl;
+};
+
+} // namespace iDynTree
+
+#endif // IDYNTREE_MESHCAT_VISUALIZER_H