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| I want add this example. But I cannot add new pages.
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| ==RobotArm.cxx==
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| <source lang="cpp">
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| //This example describes the transformation pipeline. Robot arm was used to demonstrate an example.
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| #include <vtkCylinderSource.h>
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| #include <vtkPolyDataMapper.h>
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| #include <vtkActor.h>
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| #include <vtkProperty.h>
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| #include <vtkTransform.h>
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| #include <vtkRenderer.h>
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| #include <vtkRenderWindow.h>
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| #include <vtkRenderWindowInteractor.h>
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| #include <vtkSmartPointer.h>
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|
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| int main (int, char *[])
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| {
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| vtkSmartPointer<vtkRenderer> ren1 = vtkSmartPointer<vtkRenderer>::New();
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| ren1->SetBackground( 0.1, 0.2, 0.4 );
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|
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| vtkSmartPointer<vtkRenderWindow> renWin = vtkSmartPointer<vtkRenderWindow>::New();
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| renWin->AddRenderer(ren1);
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| renWin->SetSize(600, 600);
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| renWin->SetWindowName("Robot Arm");
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|
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| vtkSmartPointer<vtkRenderWindowInteractor> iren = vtkSmartPointer<vtkRenderWindowInteractor>::New();
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| iren->SetRenderWindow(renWin);
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|
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| //arm
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| vtkSmartPointer<vtkCylinderSource> arm = vtkSmartPointer<vtkCylinderSource>::New();
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| arm->SetRadius(8);
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| arm->SetHeight(20);
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| arm->SetResolution(20);
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|
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| vtkSmartPointer<vtkPolyDataMapper> armMapper = vtkSmartPointer<vtkPolyDataMapper>::New();
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| armMapper->SetInputConnection(arm->GetOutputPort());
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|
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| vtkSmartPointer<vtkTransform> armTransform = vtkSmartPointer<vtkTransform>::New();
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|
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| vtkSmartPointer<vtkActor> armActor = vtkSmartPointer<vtkActor>::New();
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| armActor->SetUserTransform(armTransform);
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| armActor->SetMapper(armMapper);
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| armActor->GetProperty()->SetColor(0.7,0.6,0.3);
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|
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| //forearm
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| vtkSmartPointer<vtkCylinderSource> forearm = vtkSmartPointer<vtkCylinderSource>::New();
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| forearm->SetRadius(6);
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| forearm->SetHeight(15);
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| forearm->SetResolution(20);
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| forearm->SetCenter(*(arm->GetCenter()),*(arm->GetCenter()+1)+forearm->GetHeight(),*(arm->GetCenter()+2));
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|
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| vtkSmartPointer<vtkPolyDataMapper> forearmMapper = vtkSmartPointer<vtkPolyDataMapper>::New();
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| forearmMapper->SetInputConnection(forearm->GetOutputPort());
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|
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| vtkSmartPointer<vtkTransform> forearmTransform = vtkSmartPointer<vtkTransform>::New();
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| forearmTransform->SetInput(armTransform);
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|
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| vtkSmartPointer<vtkActor> forearmActor = vtkSmartPointer<vtkActor>::New();
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| forearmActor->SetUserTransform(forearmTransform);
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| forearmActor->SetMapper(forearmMapper);
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| forearmActor->GetProperty()->SetColor(0.1,0.2,0.9);
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|
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| //hand
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| vtkSmartPointer<vtkCylinderSource> hand = vtkSmartPointer<vtkCylinderSource>::New();
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| hand->SetRadius(4);
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| hand->SetHeight(10);
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| hand->SetResolution(20);
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| hand->SetCenter(*(forearm->GetCenter()),*(forearm->GetCenter()+1)+hand->GetHeight(),*(forearm->GetCenter()+2));
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|
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| vtkSmartPointer<vtkPolyDataMapper> handMapper = vtkSmartPointer<vtkPolyDataMapper>::New();
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| handMapper->SetInputConnection(hand->GetOutputPort());
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|
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| vtkSmartPointer<vtkTransform> handTransform = vtkSmartPointer<vtkTransform>::New();
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| handTransform->SetInput(forearmTransform);
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|
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| vtkSmartPointer<vtkActor> handActor = vtkSmartPointer<vtkActor>::New();
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| handActor->SetUserTransform(handTransform);
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| handActor->SetMapper(handMapper);
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| handActor->GetProperty()->SetColor(0.6,0.9,0.1);
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|
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|
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| ren1->AddActor(armActor);
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| ren1->AddActor(forearmActor);
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| ren1->AddActor(handActor);
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|
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| renWin->Render();
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|
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| //execution of robot arm motion
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| for (int i = 0; i <45; i++)
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| {
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| armTransform->Identity();
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| armTransform->RotateZ(-i);
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| renWin->Render();
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| }
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| //execution of robot forearm motion
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| for (int i = 0; i <45; i++)
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| {
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| forearmTransform->Identity();
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| forearmTransform->RotateZ(i);
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| renWin->Render();
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| }
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|
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| iren->Initialize();
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| iren->Start();
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|
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| return EXIT_SUCCESS;
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| }
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| </source>
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|
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| ==CMakeLists.txt==
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| {{#tag:syntaxhighlight
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| PROJECT(robotarm)
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|
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| ADD_EXECUTABLE(robotarm main.cpp)
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|
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| CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
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|
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| IF(NOT VTK_BINARY_DIR)
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| FIND_PACKAGE(VTK REQUIRED)
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| IF(NOT VTK_USE_RENDERING)
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| MESSAGE(FATAL_ERROR "Example ${PROJECT_NAME} requires VTK_USE_RENDERING.")
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| ENDIF(NOT VTK_USE_RENDERING)
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| INCLUDE(${VTK_USE_FILE})
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| ENDIF(NOT VTK_BINARY_DIR)
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|
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| TARGET_LINK_LIBRARIES(robotarm vtkRendering)
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| |lang=cmake}}
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