visualizerSetup.m

function [] = visualizerSetup(Visualizer,disableViewInertialFrame,lightDir,cameraPos,cameraTarget)

    % VISUALIZERSETUP modifies the visualization environment according to the
    %                 user specifications.
    %
    % WARNING! This function is deprecated! Use prepareVisualization instead.
    %
    % This matlab function wraps a functionality of the iDyntree library.
    % For further info see also: https://github.com/robotology/idyntree
    %
    % REQUIREMENTS: compile iDyntree with Irrlicht (IDYNTREE_USES_IRRLICHT = ON).
    %
    % FORMAT:  [] = visualizerSetup(Visualizer,disableViewInertialFrame,lightDir,cameraPos,cameraTarget)
    %
    % INPUTS:  - Visualizer: a structure containing the visualizer and its options.
    %          - disableViewInertialFrame: boolean for disabling the view of the
    %                                      inertial frame;
    %          - lightDir: [3 x 1] vector describing the light direction;
    %          - cameraPos: [3 x 1] vector describing the camera position;
    %          - cameraTarget: [3 x 1] vector describing the camera target;
    %
    % Author : Gabriele Nava (gabriele.nava@iit.it)
    %
    % SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
    % SPDX-License-Identifier: BSD-3-Clause

    %% ------------Initialization----------------

    % disable environmental features
    if disableViewInertialFrame

        enviroment = Visualizer.viz.enviroment();
        ack        = enviroment.setElementVisibility('root_frame',false);

        % check for errors
        if ~ack
            error('[visualizerSetup]: unable to disable the inertial frame view.')
        end
    end

    % set lights
    sun = Visualizer.viz.enviroment().lightViz('sun');
    lightDir_idyntree = iDynTree.Direction();
    lightDir_idyntree.fromMatlab(lightDir);
    sun.setDirection(lightDir_idyntree);

    % set camera
    cam = Visualizer.viz.camera();
    cam.setPosition(iDynTree.Position(cameraPos(1),cameraPos(2),cameraPos(3)));
    cam.setTarget(iDynTree.Position(cameraTarget(1),cameraTarget(2),cameraTarget(3)));

    % draw the model
    Visualizer.viz.draw();
end