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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_circle |
draw a circle in rviz (pose_mat z-axis is normal to the circle plane) with radius r, thickness size, and number of facets num_facets | |
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_line_strip |
draw a line strip in rviz, with origin at pose_mat (4x4 scipy matrix) and points (3xn or 4xn scipy matrix) relative to that origin | |
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, | ||||
latch = False | ||||
) |
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 217 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. , |
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frame_locked = False | ||||
) |
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 , |
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frame_locked = False | ||||
) |
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 232 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. , |
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frame_locked = False | ||||
) |
draw a set of axes in rviz with arrows of varying lengths pose is a 4x4 scipy matrix
Definition at line 120 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 , |
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frame_locked = False | ||||
) |
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 165 of file draw_functions.py.
def object_manipulator::draw_functions::DrawFunctions::draw_rviz_circle | ( | self, | ||
pose_mat, | ||||
r, | ||||
frame, | ||||
num_facets = 20 , |
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size = .005 , |
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ns = 'circle' , |
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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 , |
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frame_locked = False | ||||
) |
draw a circle in rviz (pose_mat z-axis is normal to the circle plane) with radius r, thickness size, and number of facets num_facets
Definition at line 207 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 , |
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frame_locked = False | ||||
) |
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 185 of file draw_functions.py.
def object_manipulator::draw_functions::DrawFunctions::draw_rviz_line_strip | ( | self, | ||
pose_mat, | ||||
points, | ||||
frame, | ||||
size = .005 , |
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ns = 'line strip' , |
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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 , |
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frame_locked = False | ||||
) |
draw a line strip in rviz, with origin at pose_mat (4x4 scipy matrix) and points (3xn or 4xn scipy matrix) relative to that origin
Definition at line 193 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 , |
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pose_mat = None , |
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frame_locked = False | ||||
) |
draw a set of points (3xn or 4xn scipy matrix) in rviz
Definition at line 101 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 , |
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opaque = 0.5 , |
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frame_locked = False | ||||
) |
draw a sphere in rviz at pose_mat (4x4 scipy matrix) with radius r
Definition at line 154 of file draw_functions.py.
Definition at line 57 of file draw_functions.py.