Scene graph data structure and associate operations.

Homepage: http://amino.golems.org
Source Repository: https://github.com/golems/amino
License: 3-Clause BSD

Defines a purely-function interface for scene graphs, i.e., kinematic trees, that shares geometric types with the C implementation. Binds associated operations such a collision checking, motion planning, and OpenGL rendering.

The ROBRAY dictionary

<em>RENDER-OPTIONS</em>

[special-var]

Association-list of default rendering options.

D

RAW-OPTION

[function]

DRAW-OPTION: (options key) => result

Return the draw option in OPTIONS for KEY.

D

RAW-OPTIONS

[function]

DRAW-OPTIONS: (&rest options-plist) => result

Construct drawing options from a propetry list.

D

RAW-OPTIONS-DEFAULT

[function]

DRAW-OPTIONS-DEFAULT: (&key options scale no-shadow specular color alpha metallic brilliance diffuse roughness reflection ambient crand override-texture visual type collision) => result

Construct a drawing options set using default values from OPTIONS.

D

RAW-TF-AXIS

[function]

DRAW-TF-AXIS: (axis &optional translation) => result

Construct a TF given the axis for Z in the parent frame.

G

ET-RENDER-OPTION

[function]

GET-RENDER-OPTION: (options keyword &optional default) => result

Return the rendering options in OPTIONS for KEYWORD.

I

TEM-CONE-AXIS

[function]

ITEM-CONE-AXIS: (parent name &key height start-radius end-radius axis translation options) => result

Draw a cone in a new frame given an axis.

I

TEM-CYLINDER-AXIS

[function]

ITEM-CYLINDER-AXIS: (parent name &key height radius axis translation options) => result

Draw a cylinder in a new frame given an axis.

L

OAD-SCENE-FILE

[function]

LOAD-SCENE-FILE: (filename &key type reload override-texture bind-c-geom emit-povray compile mesh-up-axis mesh-forward-axis) => result

Load a scene-graph from FILENAME.

M

ERGE-DRAW-OPTIONS

[function]

MERGE-DRAW-OPTIONS: (new-options &optional base-options) => result

Merge two drawing options.

Values in NEW-OPTIONS supersede values in BASE-OPTIONS.

M

ERGE-RENDER-OPTIONS

[function]

MERGE-RENDER-OPTIONS: (new-options &optional base-options) => result

Merge two drawing options.

Values in NEW-OPTIONS supersede values in BASE-OPTIONS.

M

ERGE-SCENE-GRAPH

[function]

MERGE-SCENE-GRAPH: (scene-graph new-scene-graph &key if-exists) => result

Combine two scene graphs.

M

OTION-PLAN

[standard class]

Container for a motion plan.

M

OTION-PLAN

[function]

MOTION-PLAN: (sub-scene-graph start-map &key jointspace-goal workspace-goal simplify track-collisions timeout) => result

Compute a motion plan.

M

OTION-PLAN-ENDPOINT-ARRAY

[function]

MOTION-PLAN-ENDPOINT-ARRAY: (motion-plan) => result

Return the endpoint of MOTION-PLAN as an array.

M

OTION-PLAN-ENDPOINT-MAP

[function]

MOTION-PLAN-ENDPOINT-MAP: (motion-plan) => result

Return the endpoint of MOTION-PLAN as an configuration map.

R

ENDER-OPTIONS

[function]

RENDER-OPTIONS: (&rest options-plist) => result

Construct a rendering options set from a property list.

R

ENDER-OPTIONS-4K

[function]

RENDER-OPTIONS-4K: (&optional base-options) => result

Default rendering options for 4k rendering.

R

ENDER-OPTIONS-DEFAULT

[function]

RENDER-OPTIONS-DEFAULT: (&key options width codec height quality frames-per-second use-collision encode-video antialias render-frames) => result

Construct a rendering options set using default values from OPTIONS.

R

ENDER-OPTIONS-FAST

[function]

RENDER-OPTIONS-FAST: (&optional base-options) => result

Default rendering options for fast but low quality rendering.

R

ENDER-OPTIONS-FULL-HD

[function]

RENDER-OPTIONS-FULL-HD: (&optional base-options) => result

Default rendering options for full high-definition rendering.

R

ENDER-OPTIONS-MEDIUM

[function]

RENDER-OPTIONS-MEDIUM: (&optional base-options) => result

Default rendering options for medium quality/speed.

R

ENDER-SCENE-GRAPH

[function]

RENDER-SCENE-GRAPH: (scene-graph &key camera-tf render options configuration-map output directory include-directory include include-text default-configuration) => result

Generate the POV-ray scene for the given scene-graph.

S

CENE-BOX

[standard class]

SCENE-CONE

[standard class]

SCENE-CYLINDER

[standard class]

SCENE-FRAME-FIXED

[standard class]

A frame with a fixed transformation

S

CENE-FRAME-FIXED

[function]

SCENE-FRAME-FIXED: (parent name &key geometry inertial tf) => result

Create a new fixed frame.

S

CENE-FRAME-PRISMATIC

[standard class]

A frame representing a prismatic (sliding) joint.

S

CENE-FRAME-PRISMATIC

[function]

SCENE-FRAME-PRISMATIC: (parent name &key axis configuration-name configuration-offset limits tf) => result

Create a new prismatic frame.

S

CENE-FRAME-REVOLUTE

[standard class]

A frame representing a revolute (rotating) joint.

S

CENE-FRAME-REVOLUTE

[function]

SCENE-FRAME-REVOLUTE: (parent name &key axis configuration-name configuration-offset tf geometry limits) => result

Create a new revolute frame.

S

CENE-GRAPH

[standard class]

The data type for scene graphs, i.e., kinematic trees.

This is a purely functional type, so opertions on scene-graphs
create (partial) copies without modifying or destroying the original.

S

CENE-GRAPH

[function]

SCENE-GRAPH: (&rest things) => result

Construct a scene-graph from THINGS.

Elements of things may be other scene-graphs, individual frames, files
to load, or sequences of any of these.

S

CENE-GRAPH-ALLOW-COLLISIONS

[function]

SCENE-GRAPH-ALLOW-COLLISIONS: (scene-graph collision-set) => result

Insert the provided allowed collisions into the allowable set for SCENE-GRAPH.

S

CENE-GRAPH-CHAIN

[function]

SCENE-GRAPH-CHAIN: (scenegraph root tip) => result

Construct the sub-scene-graph for a kinematic chain from ROOT to TIP.

S

CENE-GRAPH-F

[macro]

SCENE-GRAPH-F: (place &rest things) => result

Add THINGS to the scene-graph in PLACE and assign result to PLACE.

S

CENE-GRAPH-FIND

[function]

SCENE-GRAPH-FIND: (scene-graph frame-name) => result

Find a frame

S

CENE-GRAPH-PARENT-NAME

[function]

SCENE-GRAPH-PARENT-NAME: (scene-graph frame-name) => result

Find a parent frame name

S

CENE-GRAPH-REMOVE-FRAME

[function]

SCENE-GRAPH-REMOVE-FRAME: (scene-graph frame-name) => result

Remove a frame from the scene. It still stays in the allowed-collision set.

S

CENE-GRAPH-REPARENT

[function]

SCENE-GRAPH-REPARENT: (scene-graph new-parent frame-name &key tf tf-absolute-map configuration-map default-configuration) => result

Change the parent of frame FRAME-NAME to NEW-PARENT

S

CENE-GRAPH-TF-ABSOLUTE

[function]

SCENE-GRAPH-TF-ABSOLUTE: (scene-graph frame-name &key configuration-map tf-absolute-map default-configuration) => result

Compute the absolute transform for FRAME-NAME.

S

CENE-SPHERE

[standard class]

SUB-SCENE-GRAPH

[standard class]

SUB-SCENE-GRAPH-SCENE-GRAPH

[function]

SUB-SCENE-GRAPH-SCENE-GRAPH: (ssg) => result

Return the (full) scene-graph for a sub-scene-graph.

A

uthors

Neil T. Dantam