Merge pull request #266 from robotology/vizJets

Add visualization of "jets" in the iDynTree Visualizer
robotology · Mar 10, 2017 · 5614681 · 5614681
2 parents 31e9039 + d0b64ed
commit 5614681
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Showing 16 changed files with 1,576 additions and 418 deletions.
diff --git a/bindings/matlab/+iDynTree/DynamicsComputations.m b/bindings/matlab/+iDynTree/DynamicsComputations.m
@@ -9,118 +9,118 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1603, varargin{:});
+        tmp = iDynTreeMEX(1614, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.swigPtr = [];
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1604, self);
+        iDynTreeMEX(1615, self);
         self.swigPtr=[];
       end
     end
     function varargout = loadRobotModelFromFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1605, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1616, self, varargin{:});
     end
     function varargout = loadRobotModelFromString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1606, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1617, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1607, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1618, self, varargin{:});
     end
     function varargout = getNrOfDegreesOfFreedom(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1608, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1619, self, varargin{:});
     end
     function varargout = getDescriptionOfDegreeOfFreedom(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1609, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1620, self, varargin{:});
     end
     function varargout = getDescriptionOfDegreesOfFreedom(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1610, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1621, self, varargin{:});
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1611, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1622, self, varargin{:});
     end
     function varargout = getNrOfFrames(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1612, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1623, self, varargin{:});
     end
     function varargout = getFloatingBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1613, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1624, self, varargin{:});
     end
     function varargout = setFloatingBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1614, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1625, self, varargin{:});
     end
     function varargout = setRobotState(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1615, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1626, self, varargin{:});
     end
     function varargout = getWorldBaseTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1616, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1627, self, varargin{:});
     end
     function varargout = getBaseTwist(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1617, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1628, self, varargin{:});
     end
     function varargout = getJointPos(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1618, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1629, self, varargin{:});
     end
     function varargout = getJointVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1619, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1630, self, varargin{:});
     end
     function varargout = getFrameIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1620, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1631, self, varargin{:});
     end
     function varargout = getFrameName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1621, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1632, self, varargin{:});
     end
     function varargout = getWorldTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1622, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1633, self, varargin{:});
     end
     function varargout = getRelativeTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1623, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1634, self, varargin{:});
     end
     function varargout = getFrameTwist(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1624, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1635, self, varargin{:});
     end
     function varargout = getFrameTwistInWorldOrient(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1625, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1636, self, varargin{:});
     end
     function varargout = getFrameProperSpatialAcceleration(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1626, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1637, self, varargin{:});
     end
     function varargout = getLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1627, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1638, self, varargin{:});
     end
     function varargout = getLinkInertia(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1628, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1639, self, varargin{:});
     end
     function varargout = getJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1629, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1640, self, varargin{:});
     end
     function varargout = getJointName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1630, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1641, self, varargin{:});
     end
     function varargout = getJointLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1631, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1642, self, varargin{:});
     end
     function varargout = inverseDynamics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1632, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1643, self, varargin{:});
     end
     function varargout = getFreeFloatingMassMatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1633, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1644, self, varargin{:});
     end
     function varargout = getFrameJacobian(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1634, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1645, self, varargin{:});
     end
     function varargout = getDynamicsRegressor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1635, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1646, self, varargin{:});
     end
     function varargout = getModelDynamicsParameters(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1636, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1647, self, varargin{:});
     end
     function varargout = getCenterOfMass(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1637, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1648, self, varargin{:});
     end
     function varargout = getCenterOfMassJacobian(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1638, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1649, self, varargin{:});
     end
   end
   methods(Static)

diff --git a/bindings/matlab/+iDynTree/IJetsVisualization.m b/bindings/matlab/+iDynTree/IJetsVisualization.m
@@ -0,0 +1,45 @@
+classdef IJetsVisualization < SwigRef
+  methods
+    function this = swig_this(self)
+      this = iDynTreeMEX(3, self);
+    end
+    function delete(self)
+      if self.swigPtr
+        iDynTreeMEX(1569, self);
+        self.swigPtr=[];
+      end
+    end
+    function varargout = setJetsFrames(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1570, self, varargin{:});
+    end
+    function varargout = getNrOfJets(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1571, self, varargin{:});
+    end
+    function varargout = getJetDirection(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1572, self, varargin{:});
+    end
+    function varargout = setJetDirection(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1573, self, varargin{:});
+    end
+    function varargout = setJetColor(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1574, self, varargin{:});
+    end
+    function varargout = setJetsDimensions(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1575, self, varargin{:});
+    end
+    function varargout = setJetsIntensity(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1576, self, varargin{:});
+    end
+    function self = IJetsVisualization(varargin)
+      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+        if ~isnull(varargin{1})
+          self.swigPtr = varargin{1}.swigPtr;
+        end
+      else
+        error('No matching constructor');
+      end
+    end
+  end
+  methods(Static)
+  end
+end
diff --git a/bindings/matlab/+iDynTree/IModelVisualization.m b/bindings/matlab/+iDynTree/IModelVisualization.m
@@ -5,42 +5,45 @@
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1569, self);
+        iDynTreeMEX(1577, self);
         self.swigPtr=[];
       end
     end
     function varargout = setPositions(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1570, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1578, self, varargin{:});
     end
     function varargout = setLinkPositions(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1571, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1579, self, varargin{:});
     end
     function varargout = model(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1572, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1580, self, varargin{:});
     end
     function varargout = getInstanceName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1573, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1581, self, varargin{:});
     end
     function varargout = setModelVisibility(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1574, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1582, self, varargin{:});
     end
     function varargout = setModelColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1575, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1583, self, varargin{:});
     end
     function varargout = resetModelColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1576, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1584, self, varargin{:});
     end
     function varargout = getLinkNames(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1577, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1585, self, varargin{:});
     end
     function varargout = setLinkVisibility(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1578, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1586, self, varargin{:});
     end
     function varargout = getFeatures(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1579, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1587, self, varargin{:});
     end
     function varargout = setFeatureVisibility(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1580, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1588, self, varargin{:});
+    end
+    function varargout = jets(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1589, self, varargin{:});
     end
     function self = IModelVisualization(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')

diff --git a/bindings/matlab/+iDynTree/SparseMatrix.m b/bindings/matlab/+iDynTree/SparseMatrix.m
@@ -3,23 +3,23 @@
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
     end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(123, self);
-        self.swigPtr=[];
-      end
-    end
     function self = SparseMatrix(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(124, varargin{:});
+        tmp = iDynTreeMEX(123, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.swigPtr = [];
       end
     end
+    function delete(self)
+      if self.swigPtr
+        iDynTreeMEX(124, self);
+        self.swigPtr=[];
+      end
+    end
     function varargout = numberOfNonZeros(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(125, self, varargin{:});
     end

diff --git a/bindings/matlab/+iDynTree/Visualizer.m b/bindings/matlab/+iDynTree/Visualizer.m
@@ -9,52 +9,52 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1589, varargin{:});
+        tmp = iDynTreeMEX(1600, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.swigPtr = [];
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1590, self);
+        iDynTreeMEX(1601, self);
         self.swigPtr=[];
       end
     end
     function varargout = init(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1591, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1602, self, varargin{:});
     end
     function varargout = getNrOfVisualizedModels(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1592, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1603, self, varargin{:});
     end
     function varargout = getModelInstanceName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1593, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1604, self, varargin{:});
     end
     function varargout = getModelInstanceIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1594, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1605, self, varargin{:});
     end
     function varargout = addModel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1595, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1606, self, varargin{:});
     end
     function varargout = modelViz(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1596, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1607, self, varargin{:});
     end
     function varargout = camera(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1597, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1608, self, varargin{:});
     end
     function varargout = enviroment(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1598, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1609, self, varargin{:});
     end
     function varargout = run(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1599, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1610, self, varargin{:});
     end
     function varargout = draw(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1600, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1611, self, varargin{:});
     end
     function varargout = drawToFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1601, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1612, self, varargin{:});
     end
     function varargout = close(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1602, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1613, self, varargin{:});
     end
   end
   methods(Static)