#include <robot.h>
Public Member Functions | |
void | clear () |
Clears all data loaded from a URDF. | |
float | getAlpha () |
Ogre::SceneNode * | getCollisionNode () |
RobotLink * | getLink (const std::string &name) |
CategoryPropertyWPtr | getLinksCategory () |
const std::string & | getName () |
virtual const Ogre::Quaternion & | getOrientation () |
Ogre::SceneNode * | getOtherNode () |
virtual const Ogre::Vector3 & | getPosition () |
Ogre::SceneNode * | getVisualNode () |
bool | isCollisionVisible () |
Returns whether or not the collision representation is set to be visible. | |
bool | isVisualVisible () |
Returns whether or not the visual representation is set to be visible. | |
void | load (TiXmlElement *root_element, urdf::Model &descr, bool visual=true, bool collision=true) |
Loads meshes/primitives from a robot description. Calls clear() before loading. | |
Robot (VisualizationManager *manager, const std::string &name="") | |
void | setAlpha (float a) |
void | setCollisionVisible (bool visible) |
Set whether the collision meshes/primitives of the robot should be visible. | |
virtual void | setOrientation (const Ogre::Quaternion &orientation) |
virtual void | setPosition (const Ogre::Vector3 &position) |
void | setPropertyManager (PropertyManager *property_manager, const CategoryPropertyWPtr &parent) |
virtual void | setScale (const Ogre::Vector3 &scale) |
void | setVisible (bool visible) |
Set the robot as a whole to be visible or not. | |
void | setVisualVisible (bool visible) |
Set whether the visual meshes of the robot should be visible. | |
void | update (const LinkUpdater &updater) |
~Robot () | |
Protected Types | |
typedef std::map< std::string, RobotLink * > | M_NameToLink |
Protected Member Functions | |
void | updateLinkVisibilities () |
Call RobotLink::updateVisibility() on each link. | |
Protected Attributes | |
float | alpha_ |
bool | collision_visible_ |
Should we show the collision representation? | |
M_NameToLink | links_ |
Map of name to link info, stores all loaded links. | |
CategoryPropertyWPtr | links_category_ |
std::string | name_ |
CategoryPropertyWPtr | parent_property_ |
PropertyManager * | property_manager_ |
Ogre::SceneNode * | root_collision_node_ |
Node all our collision nodes are children of. | |
Ogre::SceneNode * | root_other_node_ |
Ogre::SceneNode * | root_visual_node_ |
Node all our visual nodes are children of. | |
Ogre::SceneManager * | scene_manager_ |
VisualizationManager * | vis_manager_ |
bool | visual_visible_ |
Should we show the visual representation? |
A helper class to draw a representation of a robot, as specified by a URDF. Can display either the visual models of the robot, or the collision models.
typedef std::map< std::string, RobotLink* > rviz::Robot::M_NameToLink [protected] |
rviz::Robot::Robot | ( | VisualizationManager * | manager, |
const std::string & | name = "" |
||
) |
void rviz::Robot::clear | ( | void | ) |
float rviz::Robot::getAlpha | ( | ) | [inline] |
Ogre::SceneNode* rviz::Robot::getCollisionNode | ( | ) | [inline] |
RobotLink * rviz::Robot::getLink | ( | const std::string & | name | ) |
CategoryPropertyWPtr rviz::Robot::getLinksCategory | ( | ) | [inline] |
const std::string& rviz::Robot::getName | ( | void | ) | [inline] |
const Ogre::Quaternion & rviz::Robot::getOrientation | ( | ) | [virtual] |
Ogre::SceneNode* rviz::Robot::getOtherNode | ( | ) | [inline] |
const Ogre::Vector3 & rviz::Robot::getPosition | ( | ) | [virtual] |
Ogre::SceneNode* rviz::Robot::getVisualNode | ( | ) | [inline] |
void rviz::Robot::load | ( | TiXmlElement * | root_element, |
urdf::Model & | descr, | ||
bool | visual = true , |
||
bool | collision = true |
||
) |
void rviz::Robot::setAlpha | ( | float | a | ) |
void rviz::Robot::setCollisionVisible | ( | bool | visible | ) |
void rviz::Robot::setOrientation | ( | const Ogre::Quaternion & | orientation | ) | [virtual] |
void rviz::Robot::setPosition | ( | const Ogre::Vector3 & | position | ) | [virtual] |
void rviz::Robot::setPropertyManager | ( | PropertyManager * | property_manager, |
const CategoryPropertyWPtr & | parent | ||
) |
void rviz::Robot::setScale | ( | const Ogre::Vector3 & | scale | ) | [virtual] |
void rviz::Robot::setVisible | ( | bool | visible | ) |
void rviz::Robot::setVisualVisible | ( | bool | visible | ) |
void rviz::Robot::update | ( | const LinkUpdater & | updater | ) |
void rviz::Robot::updateLinkVisibilities | ( | ) | [protected] |
Call RobotLink::updateVisibility() on each link.
float rviz::Robot::alpha_ [protected] |
bool rviz::Robot::collision_visible_ [protected] |
M_NameToLink rviz::Robot::links_ [protected] |
CategoryPropertyWPtr rviz::Robot::links_category_ [protected] |
std::string rviz::Robot::name_ [protected] |
CategoryPropertyWPtr rviz::Robot::parent_property_ [protected] |
PropertyManager* rviz::Robot::property_manager_ [protected] |
Ogre::SceneNode* rviz::Robot::root_collision_node_ [protected] |
Ogre::SceneNode* rviz::Robot::root_other_node_ [protected] |
Ogre::SceneNode* rviz::Robot::root_visual_node_ [protected] |
Ogre::SceneManager* rviz::Robot::scene_manager_ [protected] |
VisualizationManager* rviz::Robot::vis_manager_ [protected] |
bool rviz::Robot::visual_visible_ [protected] |