Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

add irtdarw-save by M.Inaba #631

Open
wants to merge 4 commits into
base: master
Choose a base branch
from
Open

add irtdarw-save by M.Inaba #631

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
2056821
add irtdraw, eps creater imported from rbrain/jsk/kdraw.l
k-okada Mar 29, 2023
84091dc
2023.3.28 created for idraw imported from rbrain/jsk/kdraw.l, M.Inaba
k-okada Mar 29, 2023
0c5bedf
irtdraw.l: fix minor changes, remove global variables, enable to call…
k-okada Mar 29, 2023
d2f1630
add doc on irtdraw-save, with-save-animgif
k-okada Mar 29, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
39 changes: 39 additions & 0 deletions doc/irtviewer.tex
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -44,3 +44,42 @@ \section{ロボットビューワ}


\input{irtviewer-func}


\subsection{Animation GIF}

\verb+with-save-animgif+ マクロを用いることでAnimation Gifファイルを生成することが出来る．


{\baselineskip=10pt
\begin{verbatim}
(with-save-animgif "file"
(dotimes (a 45)
(send *robot* :larm-shoulder-r :joint-angle (* a 4))
(send *irtviewer*:draw-objects)))
\end{verbatim}
}

\verb+with-save-mpeg+を用いることで\verb+mpeg+ファイルの生成も可能である．

\subsection{Eps}

\verb+irtdraw-save+ を用いることでEpsファイルを生成することが出来る．

{\baselineskip=10pt
\begin{verbatim}
(defun irtdraw-demo-hand nil
(load "irteus/demo/demo.l")
(hand-grasp)
(irtdraw-save :fname "hand-grasp.eps"
:bodies (cons (cadr (objects))
(send (car (objects)) :bodies)))
)
(defun irtdraw-dual-arm nil
(load "irteus/demo/demo.l")
(dual-arm-ik)
(irtdraw-save :fname "dual-arm.eps"
:bodies (flatten (send-all (objects) :bodies)))
)
\end{verbatim}
}
3 changes: 2 additions & 1 deletion irteus/Makefile
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,7 @@ MODULES.L=irt_modules.l
EUSLIB_MODULES.L=$(addprefix $(EUSDIR)/lib/,$(MODULES.L))

IRTEUS=irtmath irtutil irtgraph gnuplotlib pgsql time
IRTEUSG=irtgeo pqp bullet irtcollision irtscene irtmodel irtsensor irtdyna irtrobot irtbvh irtcollada irtpointcloud irtstl irtwrl
IRTEUSG=irtgeo pqp bullet irtcollision irtscene irtmodel irtsensor irtdyna irtrobot irtbvh irtcollada irtpointcloud irtstl irtwrl irtdraw
IRTEUSX=irtx
IRTEUSIMG=irtimage eusjpeg png
IRTEUSGL=irtgl irtglrgb irtviewer
Expand Down Expand Up @@ -253,6 +253,7 @@ $(INSTALLOBJDIR)/irtdyna.$(OSFX): irtdyna.l
$(INSTALLOBJDIR)/irtcollada.$(OSFX): irtcollada.l
$(INSTALLOBJDIR)/irtstl.$(OSFX): irtstl.l
$(INSTALLOBJDIR)/irtwrl.$(OSFX): irtwrl.l
$(INSTALLOBJDIR)/irtdraw.$(OSFX): irtdraw.l
$(INSTALLOBJDIR)/irtsensor.$(OSFX): irtsensor.l
$(INSTALLOBJDIR)/irtpointcloud.$(OSFX): irtpointcloud.l
$(INSTALLOBJDIR)/irtrobot.$(OSFX): irtrobot.l
Expand Down
1 change: 1 addition & 0 deletions irteus/compile_irtg.l
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,7 @@
(comp:compile-file-if-src-newer "irtcollada.l" user::*objdir*)
(comp:compile-file-if-src-newer "irtstl.l" user::*objdir*)
(comp:compile-file-if-src-newer "irtwrl.l" user::*objdir*)
(comp:compile-file-if-src-newer "irtdraw.l" user::*objdir*)
(comp:compile-file-if-src-newer "irtpointcloud.l" user::*objdir*)

(exit 0)
Expand Down
Loading