parameters: (env,ikparam,dist=1.0,linewidth=1,coloradd=None)
docstring: draws an IkParameterization
docstring_summary: draws an IkParameterization
docstring_tokens: draws an IkParameterization
function: def DrawIkparam(env,ikparam,dist=1.0,linewidth=1,coloradd=None):
      """draws an IkParameterization
      
      """
      if ikparam.GetType() == openravepy_int.IkParameterizationType.Transform6D:
          return DrawAxes(env,ikparam.GetTransform6DPose(),dist,linewidth,coloradd)
      
      elif ikparam.GetType() == openravepy_int.IkParameterizationType.TranslationDirection5D:
          ray = ikparam.GetTranslationDirection5D()
          colors=numpy.array([[0,0,0],[1,0,0]])
          if coloradd is not None:
              colors = numpy.minimum(1.0, numpy.maximum(0.0, colors + numpy.tile(coloradd,(len(colors),1))))
          return env.drawlinelist(numpy.array([ray.pos(),ray.pos()+ray.dir()*dist]),linewidth,colors=colors)
      
      elif ikparam.GetType() == openravepy_int.IkParameterizationType.Translation3D:
          if coloradd is not None:
              colors = numpy.array([coloradd])
          else:
              colors=numpy.array([[0,0,0]])
          return env.plot3(ikparam.GetTranslation3D(),linewidth,colors=colors)
      
      elif ikparam.GetType() == openravepy_int.IkParameterizationType.TranslationXAxisAngleZNorm4D:
          pos,angle = ikparam.GetTranslationXAxisAngleZNorm4D()
          T = openravepy_int.matrixFromAxisAngle([0,0,angle])
          T[0:3,3] = pos
          return DrawAxes(env,T,dist,linewidth,coloradd)
  
      elif ikparam.GetType() == openravepy_int.IkParameterizationType.TranslationYAxisAngleXNorm4D:
          pos,angle = ikparam.GetTranslationYAxisAngleXNorm4D()
          #T = numpy.dot([[1,0,0,0],[0,0,1,0],[0,-1,0,0],[0,0,0,1]], openravepy_int.matrixFromAxisAngle([angle, 0,0]))
          T = openravepy_int.matrixFromAxisAngle([angle, 0,0])
          T[0:3,3] = pos
          return [DrawAxes(env,T,dist,linewidth,coloradd)]
  
      elif ikparam.GetType() == openravepy_int.IkParameterizationType.TranslationZAxisAngleYNorm4D:
          pos,angle = ikparam.GetTranslationZAxisAngleYNorm4D()
          T = openravepy_int.matrixFromAxisAngle([0,angle,0])
          T[0:3,3] = pos
          return [DrawAxes(env,T,dist,linewidth,coloradd)]
      
      else:
          raise NotImplemented('iktype %s'%str(ikparam.GetType()))
function_tokens: def DrawIkparam ( env , ikparam , dist = 1.0 , linewidth = 1 , coloradd = None ) : if ikparam . GetType ( ) == openravepy_int . IkParameterizationType . Transform6D : return DrawAxes ( env , ikparam . GetTransform6DPose ( ) , dist , linewidth , coloradd ) elif ikparam . GetType ( ) == openravepy_int . IkParameterizationType . TranslationDirection5D : ray = ikparam . GetTranslationDirection5D ( ) colors = numpy . array ( [ [ 0 , 0 , 0 ] , [ 1 , 0 , 0 ] ] ) if coloradd is not None : colors = numpy . minimum ( 1.0 , numpy . maximum ( 0.0 , colors + numpy . tile ( coloradd , ( len ( colors ) , 1 ) ) ) ) return env . drawlinelist ( numpy . array ( [ ray . pos ( ) , ray . pos ( ) + ray . dir ( ) * dist ] ) , linewidth , colors = colors ) elif ikparam . GetType ( ) == openravepy_int . IkParameterizationType . Translation3D : if coloradd is not None : colors = numpy . array ( [ coloradd ] ) else : colors = numpy . array ( [ [ 0 , 0 , 0 ] ] ) return env . plot3 ( ikparam . GetTranslation3D ( ) , linewidth , colors = colors ) elif ikparam . GetType ( ) == openravepy_int . IkParameterizationType . TranslationXAxisAngleZNorm4D : pos , angle = ikparam . GetTranslationXAxisAngleZNorm4D ( ) T = openravepy_int . matrixFromAxisAngle ( [ 0 , 0 , angle ] ) T [ 0 : 3 , 3 ] = pos return DrawAxes ( env , T , dist , linewidth , coloradd ) elif ikparam . GetType ( ) == openravepy_int . IkParameterizationType . TranslationYAxisAngleXNorm4D : pos , angle = ikparam . GetTranslationYAxisAngleXNorm4D ( ) #T = numpy.dot([[1,0,0,0],[0,0,1,0],[0,-1,0,0],[0,0,0,1]], openravepy_int.matrixFromAxisAngle([angle, 0,0])) T = openravepy_int . matrixFromAxisAngle ( [ angle , 0 , 0 ] ) T [ 0 : 3 , 3 ] = pos return [ DrawAxes ( env , T , dist , linewidth , coloradd ) ] elif ikparam . GetType ( ) == openravepy_int . IkParameterizationType . TranslationZAxisAngleYNorm4D : pos , angle = ikparam . GetTranslationZAxisAngleYNorm4D ( ) T = openravepy_int . matrixFromAxisAngle ( [ 0 , angle , 0 ] ) T [ 0 : 3 , 3 ] = pos return [ DrawAxes ( env , T , dist , linewidth , coloradd ) ] else : raise NotImplemented ( 'iktype %s' % str ( ikparam . GetType ( ) ) )