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\section{ロボットビューワ}
デフォルトのIrtviewerを作成する(\reffig{irtviewer})．
\begin{verbatim}
(make-irtviewer)
\end{verbatim}
\begin{figure}[htb]
\begin{center}
\includegraphics[width=0.50\columnwidth]{fig/irtviewer.jpg}
\caption{Default irtviewer}
\labfig{irtviewer}
\end{center}
\end{figure}
Irtviewerを作成して，xy平面のグリッドを描画する(\reffig{irtviewer-floor})．
\begin{verbatim}
(make-irtviewer)
(send *irtviewer* :draw-floor 100)
(send *irtviewer* :draw-objects)
\end{verbatim}
\begin{figure}[htb]
\begin{center}
\includegraphics[width=0.50\columnwidth]{fig/irtviewer-floor.jpg}
\caption{Irtviewer with floor grid}
\labfig{irtviewer-floor}
\end{center}
\end{figure}
Irtviewerを作成して，背景を白にして，xy平面のグリッドを黒で描画する(\reffig{irtviewer-floor-white})．
\begin{verbatim}
(make-irtviewer)
(send *irtviewer* :change-background (float-vector 1 1 1))
(send *irtviewer* :draw-floor 100)
(send *irtviewer* :floor-color #f(0 0 0))
(send *irtviewer* :draw-objects)
\end{verbatim}
\begin{figure}[htb]
\begin{center}
\includegraphics[width=0.50\columnwidth]{fig/irtviewer-floor-white.jpg}
\caption{Irtviewer with white background and floor grid}
\labfig{irtviewer-floor-white}
\end{center}
\end{figure}
\input{irtviewer-func}
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