Uses a robot xml description to display the pieces of a robot at the transforms broadcast by rosTF. More...

#include <robot_model_display.h>

Inheritance diagram for rviz::RobotModelDisplay:

[legend]

Public Member Functions
void	clear ()

void	fixedFrameChanged () override
	Called by setFixedFrame(). Override to respond to changes to fixed_frame_. More...

void	load (const Config &config) override
	Load the settings for this display from the given Config node, which must be a map. More...

void	onInitialize () override
	Override this function to do subclass-specific initialization. More...

void	reset () override
	Called to tell the display to clear its state. More...

	RobotModelDisplay ()

void	update (float wall_dt, float ros_dt) override
	Called periodically by the visualization manager. More...

	~RobotModelDisplay () override

Public Member Functions inherited from rviz::Display
virtual void	deleteStatus (const QString &name)
	Delete the status entry with the given name. This is thread-safe. More...

void	deleteStatusStd (const std::string &name)
	Delete the status entry with the given std::string name. This is thread-safe. More...

	Display ()

void	emitTimeSignal (ros::Time time)
	Emit a time signal that other Displays can synchronize to. More...

QWidget *	getAssociatedWidget () const
	Return the current associated widget, or NULL if there is none. More...

PanelDockWidget *	getAssociatedWidgetPanel ()
	Return the panel containing the associated widget, or NULL if there is none. More...

virtual QString	getClassId () const
	Return the class identifier which was used to create this instance. This version just returns whatever was set with setClassId(). More...

Ogre::SceneNode *	getSceneNode () const
	Return the Ogre::SceneNode holding all 3D scene elements shown by this Display. More...

QVariant	getViewData (int column, int role) const override
	Return data appropriate for the given column (0 or 1) and role for this Display. More...

Qt::ItemFlags	getViewFlags (int column) const override
	Return item flags appropriate for the given column (0 or 1) for this Display. More...

uint32_t	getVisibilityBits ()

void	initialize (DisplayContext *context)
	Main initialization, called after constructor, before load() or setEnabled(). More...

bool	isEnabled () const
	Return true if this Display is enabled, false if not. More...

void	load (const Config &config) override
	Load the settings for this display from the given Config node, which must be a map. More...

void	save (Config config) const override
	Write this display to the given Config node. More...

void	setAssociatedWidget (QWidget *widget)
	Associate the given widget with this Display. More...

virtual void	setClassId (const QString &class_id)
	Set the class identifier used to create this instance. Typically this will be set by the factory object which created it. More...

void	setFixedFrame (const QString &fixed_frame)
	Set the fixed frame in this display. More...

void	setName (const QString &name) override
	Overridden from Property to set associated widget title to the new name. More...

virtual void	setStatus (StatusProperty::Level level, const QString &name, const QString &text)
	Show status level and text. This is thread-safe. More...

void	setStatusStd (StatusProperty::Level level, const std::string &name, const std::string &text)
	Show status level and text, using a std::string. Convenience function which converts std::string to QString and calls setStatus(). This is thread-safe. More...

virtual void	setTopic (const QString &topic, const QString &datatype)
	Set the ROS topic to listen to for this display. More...

void	setVisibilityBits (uint32_t bits)

void	unsetVisibilityBits (uint32_t bits)

	~Display () override

Public Member Functions inherited from rviz::BoolProperty
template<typename Func , typename P >
	BoolProperty (const QString &name, bool default_value, const QString &description, P *parent, Func &&changed_slot)

template<typename Func , typename R >
	BoolProperty (const QString &name, bool default_value, const QString &description, Property parent, Func &&changed_slot, const R receiver)

	BoolProperty (const QString &name=QString(), bool default_value=false, const QString &description=QString(), Property *parent=nullptr)

virtual bool	getBool () const

bool	getDisableChildren () override
	If true, the children of this property should set their ItemIsEnabled flag to false. More...

bool	getDisableChildrenIfFalse ()

void	setDisableChildrenIfFalse (bool disable)

	~BoolProperty () override

Public Member Functions inherited from rviz::Property
virtual void	addChild (Property *child, int index=-1)
	Add a child property. More...

Property *	childAt (int index) const
	Return the child Property with the given index, or NULL if the index is out of bounds or if the child at that index is not a Property. More...

virtual Property *	childAtUnchecked (int index) const
	Return the child Property with the given index, without checking whether the index is within bounds. More...

virtual void	collapse ()
	Collapse (hide the children of) this Property. More...

template<typename Func >
std::enable_if<!QtPrivate::FunctionPointer< Func >::IsPointerToMemberFunction, QMetaObject::Connection >::type	connect (const QObject *context, Func &&slot, Qt::ConnectionType type=Qt::AutoConnection)
	Connect changed() signal to given slot functor, considering context. More...

QMetaObject::Connection	connect (const QObject receiver, const char slot, Qt::ConnectionType type=Qt::AutoConnection)
	Connect changed() signal to given slot of receiver. More...

template<typename Func , typename R >
std::enable_if< QtPrivate::FunctionPointer< Func >::IsPointerToMemberFunction, QMetaObject::Connection >::type	connect (const R *receiver, Func &&slot, Qt::ConnectionType type=Qt::AutoConnection)
	Connect changed() signal to given slot member function of receiver object. More...

template<typename Func >
std::enable_if<!QtPrivate::FunctionPointer< Func >::IsPointerToMemberFunction, QMetaObject::Connection >::type	connect (Func &&slot, Qt::ConnectionType type=Qt::AutoConnection)
	Connect changed() signal to given slot functor, using this as context. More...

bool	contains (Property *possible_child) const
	Return true if the list of children includes possible_child, false if not. More...

virtual QWidget *	createEditor (QWidget *parent, const QStyleOptionViewItem &option)
	Create an editor widget to edit the value of this property. More...

virtual void	expand ()
	Expand (show the children of) this Property. More...

virtual QString	getDescription () const
	Return the description. More...

virtual bool	getHidden () const
	Return the hidden/shown state. True means hidden, false means visible. More...

virtual QIcon	getIcon () const

PropertyTreeModel *	getModel () const
	Return the model managing this Property and its childrent. More...

virtual QString	getName () const
	Return the name of this Property as a QString. More...

std::string	getNameStd () const
	Return the name of this Property as a std::string. More...

Property *	getParent () const
	Return the parent Property. More...

virtual bool	getReadOnly () const
	Return the read-only-ness of this property. More...

virtual QVariant	getValue () const
	Return the value of this Property as a QVariant. If the value has never been set, an invalid QVariant is returned. More...

void	hide ()
	Hide this Property in any PropertyTreeWidgets. More...

void	insertChildSorted (Property *child)
	Insert a child property, sorted by name. More...

bool	isAncestorOf (Property *possible_child) const
	Returns true if `this` is an ancestor of possible_child, meaning is the parent or parent of parent etc. More...

virtual void	moveChild (int from_index, int to_index)
	Move the child at from_index to to_index. More...

virtual int	numChildren () const
	Return the number of child objects (Property or otherwise). More...

virtual bool	paint (QPainter *painter, const QStyleOptionViewItem &option) const
	Hook to provide custom painting of the value data (right-hand column) in a subclass. More...

template<typename Func , typename P >
	Property (const QString &name, const QVariant &default_value, const QString &description, P *parent, Func &&changed_slot)

template<typename Func , typename R >
	Property (const QString &name, const QVariant &default_value, const QString &description, Property parent, Func &&changed_slot, const R receiver)

	Property (const QString &name=QString(), const QVariant &default_value=QVariant(), const QString &description=QString(), Property *parent=nullptr)
	Constructor. More...

virtual void	removeChildren (int start_index=0, int count=-1)
	Remove and delete some or all child Properties. Does not change the value of this Property. More...

int	rowNumberInParent () const
	Return the row number of this property within its parent, or -1 if it has no parent. More...

virtual void	setDescription (const QString &description)
	Set the description. More...

virtual void	setHidden (bool hidden)
	Hide or show this property in any PropertyTreeWidget viewing its parent. More...

virtual void	setIcon (const QIcon &icon)
	Set the icon to be displayed next to the property. More...

void	setModel (PropertyTreeModel *model)
	Set the model managing this Property and all its child properties, recursively. More...

void	setParent (Property *new_parent)
	Set parent property, without telling the parent. More...

virtual void	setReadOnly (bool read_only)
	Prevent or allow users to edit this property from a PropertyTreeWidget. More...

void	setShouldBeSaved (bool save)
	If save is false, neither the property nor its children will get saved. If true (the default), the property itself will only get saved if it is not read-only; children will get saved in any case (according to their save + read-only flags). More...

virtual bool	setValue (const QVariant &new_value)
	Set the new value for this property. Returns true if the new value is different from the old value, false if same. More...

bool	shouldBeSaved () const
	Returns true if the property has data worth saving. More...

void	show ()
	Show this Property in any PropertyTreeWidgets. More...

virtual Property *	subProp (const QString &sub_name)
	Return the first child Property with the given name, or the FailureProperty if no child has the name. More...

Property *	takeChild (Property *child)
	Remove a given child object and return a pointer to it. More...

virtual Property *	takeChildAt (int index)
	Take a child out of the child list, but don't destroy it. More...

	~Property () override
	Destructor. Removes this property from its parent's list of children. More...

Protected Member Functions
virtual void	load ()
	Loads a URDF from the ros-param named by our "Robot Description" property, iterates through the links, and loads any necessary models. More...

void	onDisable () override
	Derived classes override this to do the actual work of disabling themselves. More...

void	onEnable () override
	Derived classes override this to do the actual work of enabling themselves. More...

Protected Member Functions inherited from rviz::Display
virtual void	clearStatuses ()
	Delete all status children. This is thread-safe. More...

bool	initialized () const
	Returns true if the display has been initialized. More...

Protected Member Functions inherited from rviz::Property
void	loadValue (const Config &config)
	Load the value of this property specifically, not including children. More...

Protected Attributes
FloatProperty *	alpha_property_

Property *	collision_enabled_property_

bool	has_new_transforms_

Robot *	robot_
	Handles actually drawing the robot. More...

std::string	robot_description_

StringProperty *	robot_description_property_

StringProperty *	tf_prefix_property_

float	time_since_last_transform_

FloatProperty *	update_rate_property_

Property *	visual_enabled_property_

Protected Attributes inherited from rviz::Display
DisplayContext *	context_
	This DisplayContext pointer is the main connection a Display has into the rest of rviz. This is how the FrameManager is accessed, the SelectionManager, etc. When a Display subclass wants to signal that a new render should be done right away, call context_->queueRender(). More...

QString	fixed_frame_
	A convenience variable equal to context_->getFixedFrame(). More...

Ogre::SceneManager *	scene_manager_
	A convenience variable equal to context_->getSceneManager(). More...

Ogre::SceneNode *	scene_node_
	The Ogre::SceneNode to hold all 3D scene elements shown by this Display. More...

ros::NodeHandle	threaded_nh_
	A NodeHandle whose CallbackQueue is run from a different thread than the GUI. More...

ros::NodeHandle	update_nh_
	A NodeHandle whose CallbackQueue is run from the main GUI thread (the "update" thread). More...

Protected Attributes inherited from rviz::Property
bool	child_indexes_valid_
	True if row_number_within_parent_ of all children is valid, false if not. More...

QIcon	icon_

PropertyTreeModel *	model_
	Pointer to the PropertyTreeModel managing this property tree. More...

QVariant	value_
	This is the central property value. If you set it directly in a subclass, do so with care because many things depend on the aboutToChange() and changed() events emitted by setValue(). More...

Private Slots
void	updateAlpha ()

void	updateCollisionVisible ()

void	updateRobotDescription ()

void	updateTfPrefix ()

void	updateVisualVisible ()

Additional Inherited Members
Public Slots inherited from rviz::Display
virtual void	onEnableChanged ()

void	queueRender ()
	Convenience function which calls context_->queueRender(). More...

void	setEnabled (bool enabled)
	Enable or disable this Display. More...

void	setIcon (const QIcon &icon) override
	Set the Display's icon. More...

Public Slots inherited from rviz::BoolProperty
bool	setBool (bool value)

Signals inherited from rviz::Display
void	timeSignal (ros::Time time, QPrivateSignal)

Signals inherited from rviz::Property
void	aboutToChange ()
	Emitted by setValue() just before the value has changed. More...

void	changed ()
	Emitted by setValue() just after the value has changed. More...

void	childListChanged (Property *this_property)
	Emitted after insertions and deletions of child Properties. More...

Detailed Description

Uses a robot xml description to display the pieces of a robot at the transforms broadcast by rosTF.

Definition at line 62 of file robot_model_display.h.

Constructor & Destructor Documentation

◆ RobotModelDisplay()

rviz::RobotModelDisplay::RobotModelDisplay ( )

Definition at line 56 of file robot_model_display.cpp.

◆ ~RobotModelDisplay()

rviz::RobotModelDisplay::~RobotModelDisplay ( )

override

Definition at line 91 of file robot_model_display.cpp.

Member Function Documentation

◆ clear()

void rviz::RobotModelDisplay::clear ( )

Definition at line 249 of file robot_model_display.cpp.

◆ fixedFrameChanged()

void rviz::RobotModelDisplay::fixedFrameChanged ( )

overridevirtual

Called by setFixedFrame(). Override to respond to changes to fixed_frame_.

Reimplemented from rviz::Display.

Definition at line 244 of file robot_model_display.cpp.

◆ load() [1/2]

void rviz::RobotModelDisplay::load ( )

protectedvirtual

Loads a URDF from the ros-param named by our "Robot Description" property, iterates through the links, and loads any necessary models.

Definition at line 138 of file robot_model_display.cpp.

◆ load() [2/2]

void rviz::Display::load

override

Load the settings for this display from the given Config node, which must be a map.

Overridden from Property::load() to load the Display's name and enabled state, then call Property::load().

load() is called after initialize().

Definition at line 231 of file display.cpp.

◆ onDisable()

void rviz::RobotModelDisplay::onDisable ( )

overrideprotectedvirtual

Derived classes override this to do the actual work of disabling themselves.

Reimplemented from rviz::Display.

Definition at line 219 of file robot_model_display.cpp.

◆ onEnable()

void rviz::RobotModelDisplay::onEnable ( )

overrideprotectedvirtual

Derived classes override this to do the actual work of enabling themselves.

Reimplemented from rviz::Display.

Definition at line 213 of file robot_model_display.cpp.

◆ onInitialize()

void rviz::RobotModelDisplay::onInitialize ( )

overridevirtual

Override this function to do subclass-specific initialization.

This is called after vis_manager_ and scene_manager_ are set, and before load() or setEnabled().

setName() may or may not have been called before this.

Reimplemented from rviz::Display.

Definition at line 99 of file robot_model_display.cpp.

◆ reset()

void rviz::RobotModelDisplay::reset ( )

overridevirtual

Called to tell the display to clear its state.

Reimplemented from rviz::Display.

Definition at line 256 of file robot_model_display.cpp.

◆ update()

void rviz::RobotModelDisplay::update	(	float	wall_dt,
		float	ros_dt
	)

overridevirtual

Called periodically by the visualization manager.

Parameters

wall_dt	Wall-clock time, in seconds, since the last time the update list was run through.
ros_dt	ROS time, in seconds, since the last time the update list was run through.

Reimplemented from rviz::Display.

Definition at line 225 of file robot_model_display.cpp.

◆ updateAlpha

void rviz::RobotModelDisplay::updateAlpha ( )

privateslot

Definition at line 108 of file robot_model_display.cpp.

◆ updateCollisionVisible

void rviz::RobotModelDisplay::updateCollisionVisible ( )

privateslot

Definition at line 126 of file robot_model_display.cpp.

◆ updateRobotDescription

void rviz::RobotModelDisplay::updateRobotDescription ( )

privateslot

Definition at line 114 of file robot_model_display.cpp.

◆ updateTfPrefix

void rviz::RobotModelDisplay::updateTfPrefix ( )

privateslot

Definition at line 132 of file robot_model_display.cpp.

◆ updateVisualVisible

void rviz::RobotModelDisplay::updateVisualVisible ( )

privateslot

Definition at line 120 of file robot_model_display.cpp.

Member Data Documentation

◆ alpha_property_

FloatProperty* rviz::RobotModelDisplay::alpha_property_

protected

Definition at line 108 of file robot_model_display.h.

◆ collision_enabled_property_

Property* rviz::RobotModelDisplay::collision_enabled_property_

protected

Definition at line 105 of file robot_model_display.h.

◆ has_new_transforms_

bool rviz::RobotModelDisplay::has_new_transforms_

protected

Callback sets this to tell our update function it needs to update the transforms

Definition at line 97 of file robot_model_display.h.

◆ robot_

Robot* rviz::RobotModelDisplay::robot_

protected

Handles actually drawing the robot.

Definition at line 95 of file robot_model_display.h.

◆ robot_description_

std::string rviz::RobotModelDisplay::robot_description_

protected

Definition at line 102 of file robot_model_display.h.

◆ robot_description_property_

StringProperty* rviz::RobotModelDisplay::robot_description_property_

protected

Definition at line 107 of file robot_model_display.h.

◆ tf_prefix_property_

StringProperty* rviz::RobotModelDisplay::tf_prefix_property_

protected

Definition at line 109 of file robot_model_display.h.

◆ time_since_last_transform_

float rviz::RobotModelDisplay::time_since_last_transform_

protected

Definition at line 100 of file robot_model_display.h.

◆ update_rate_property_

FloatProperty* rviz::RobotModelDisplay::update_rate_property_

protected

Definition at line 106 of file robot_model_display.h.

◆ visual_enabled_property_

Property* rviz::RobotModelDisplay::visual_enabled_property_

protected

Definition at line 104 of file robot_model_display.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Private Slots

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RobotModelDisplay()

◆ ~RobotModelDisplay()

Member Function Documentation

◆ clear()

◆ fixedFrameChanged()

◆ load() [1/2]

◆ load() [2/2]

◆ onDisable()

◆ onEnable()

◆ onInitialize()

◆ reset()

◆ update()

◆ updateAlpha

◆ updateCollisionVisible

◆ updateRobotDescription

◆ updateTfPrefix

◆ updateVisualVisible

Member Data Documentation

◆ alpha_property_

◆ collision_enabled_property_

◆ has_new_transforms_

◆ robot_

◆ robot_description_

◆ robot_description_property_

◆ tf_prefix_property_

◆ time_since_last_transform_

◆ update_rate_property_

◆ visual_enabled_property_