class to draw stuff to rviz More...
Public Member Functions | |
| def | __init__ |
| def | clear_grasps |
| clear all the currently drawn grasps by redrawing them tiny and short-lived | |
| def | clear_rviz_points |
| clear the current set of points | |
| def | create_marker |
| fill in a Marker message | |
| def | draw_grasps |
| draw a set of grasps (wrist Poses) as x and y-axis arrows in rviz, with the x-axis long compared to y | |
| def | draw_rviz_axes |
| draw a set of axes in rviz with arrows of varying lengths pose is a 4x4 scipy matrix | |
| def | draw_rviz_box |
| draw a box in rviz at pose_mat (4x4 scipy matrix) defined by either: 2-lists (min, max) of 3-lists (x,y,z) of corner coords or a 3-list of dimensions (x,y,z) in frame_id frame (defaults to the object frame), id number id, and RGB color | |
| def | draw_rviz_cylinder |
| draw a cylinder in rviz at pose_mat (4x4 scipy matrix, z-axis is cylinder axis) with radius r and length l | |
| def | draw_rviz_points |
| draw a set of points (3xn or 4xn scipy matrix) in rviz | |
| def | draw_rviz_sphere |
| draw a sphere in rviz at pose_mat (4x4 scipy matrix) with radius r | |
Public Attributes | |
| marker_pub | |
class to draw stuff to rviz
Definition at line 54 of file draw_functions.py.
| def object_manipulator::draw_functions::DrawFunctions::__init__ | ( | self, | ||
| topic | ||||
| ) |
Definition at line 56 of file draw_functions.py.
| def object_manipulator::draw_functions::DrawFunctions::clear_grasps | ( | self, | ||
ns = 'grasps', |
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num = 150, |
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frame = '/base_link' | ||||
| ) |
clear all the currently drawn grasps by redrawing them tiny and short-lived
Definition at line 190 of file draw_functions.py.
| def object_manipulator::draw_functions::DrawFunctions::clear_rviz_points | ( | self, | ||
ns = 'points', |
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id = 0 | ||||
| ) |
clear the current set of points
Definition at line 60 of file draw_functions.py.
| def object_manipulator::draw_functions::DrawFunctions::create_marker | ( | self, | ||
| type, | ||||
| dims, | ||||
| frame, | ||||
| ns, | ||||
| id, | ||||
duration = 60., |
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color = [1, |
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opaque = 0.5, |
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pos = [0., |
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quat = [0. | ||||
| ) |
fill in a Marker message
Definition at line 73 of file draw_functions.py.
| def object_manipulator::draw_functions::DrawFunctions::draw_grasps | ( | self, | ||
| grasps, | ||||
| frame, | ||||
ns = 'grasps', |
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pause = 0 | ||||
| ) |
draw a set of grasps (wrist Poses) as x and y-axis arrows in rviz, with the x-axis long compared to y
Definition at line 205 of file draw_functions.py.
| def object_manipulator::draw_functions::DrawFunctions::draw_rviz_axes | ( | self, | ||
| pose_mat, | ||||
| frame, | ||||
lengths = [.05, |
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ns = 'axes', |
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id = 0, |
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duration = 300. | ||||
| ) |
draw a set of axes in rviz with arrows of varying lengths pose is a 4x4 scipy matrix
Definition at line 116 of file draw_functions.py.
| def object_manipulator::draw_functions::DrawFunctions::draw_rviz_box | ( | self, | ||
| pose_mat, | ||||
| ranges, | ||||
frame = 'object_frame', |
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ns = 'boxes', |
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id = 0, |
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duration = 60., |
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color = [1, |
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opaque = 0.5 | ||||
| ) |
draw a box in rviz at pose_mat (4x4 scipy matrix) defined by either: 2-lists (min, max) of 3-lists (x,y,z) of corner coords or a 3-list of dimensions (x,y,z) in frame_id frame (defaults to the object frame), id number id, and RGB color
Definition at line 161 of file draw_functions.py.
| def object_manipulator::draw_functions::DrawFunctions::draw_rviz_cylinder | ( | self, | ||
| pose_mat, | ||||
| r, | ||||
| l, | ||||
frame = 'object_frame', |
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ns = 'cylinders', |
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id = 0, |
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duration = 60., |
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color = [1, |
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opaque = 0.5 | ||||
| ) |
draw a cylinder in rviz at pose_mat (4x4 scipy matrix, z-axis is cylinder axis) with radius r and length l
Definition at line 181 of file draw_functions.py.
| def object_manipulator::draw_functions::DrawFunctions::draw_rviz_points | ( | self, | ||
| points, | ||||
frame = 'narrow_stereo_optical_frame', |
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size = .005, |
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ns = 'points', |
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id = 0, |
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duration = 20., |
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color = [0, |
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opaque = 1.0 | ||||
| ) |
draw a set of points (3xn or 4xn scipy matrix) in rviz
Definition at line 100 of file draw_functions.py.
| def object_manipulator::draw_functions::DrawFunctions::draw_rviz_sphere | ( | self, | ||
| pose_mat, | ||||
| r, | ||||
frame = 'object_frame', |
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ns = 'spheres', |
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id = 0, |
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duration = 60., |
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color = [1, |
||||
opaque = 0.5 | ||||
| ) |
draw a sphere in rviz at pose_mat (4x4 scipy matrix) with radius r
Definition at line 150 of file draw_functions.py.
Definition at line 57 of file draw_functions.py.
