Struct Display

• Defined in File display.h

Inheritance Relationships

Derived Type

• public reach::NoOpDisplay (Struct NoOpDisplay)

Struct Documentation

struct Display

Interface for displaying the state and results of a reach study.

Subclassed by reach::NoOpDisplay

Public Types

using Ptr = std::shared_ptr<Display>

using ConstPtr = std::shared_ptr<const Display>

Public Functions

Display() = default

virtual ~Display() = default

virtual void showEnvironment() const = 0

Visualizes the geometry of the robot and its environment in the reach study.

virtual void updateRobotPose(const std::map<std::string, double> &pose) const = 0

Updates the visualization to show the input robot pose.

Parameters:

pose – map of joint names to joint values

virtual void showReachNeighborhood(const std::map<std::size_t, ReachRecord> &neighborhood) const = 0

Visualizes a collection of points that are reachable.

virtual void showResults(const ReachResult &db) const = 0

Visualizes the results of a reach study.