object_manipulator.draw_functions.DrawFunctions Class Reference

class to draw stuff to rviz More...

List of all members.

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

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Detailed Description

class to draw stuff to rviz

Definition at line 54 of file draw_functions.py.

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Constructor & Destructor Documentation

def object_manipulator.draw_functions.DrawFunctions.__init__	(		self,
			topic,
			latch = False
	)

Definition at line 56 of file draw_functions.py.

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Member Function Documentation

def object_manipulator.draw_functions.DrawFunctions.clear_grasps	(		self,
			ns = 'grasps',
			num = 150,
			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',
			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.,
			color = [1,
			opaque = 0.5,
			pos = [0.,
			quat = [0.,
			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',
			pause = 0,
			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,
			ns = 'axes',
			id = 0,
			duration = 300.,
			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',
			ns = 'boxes',
			id = 0,
			duration = 60.,
			color = [1,
			opaque = 0.5,
			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,
			size = .005,
			ns = 'circle',
			id = 0,
			duration = 20.,
			color = [0,
			opaque = 1.0,
			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',
			ns = 'cylinders',
			id = 0,
			duration = 60.,
			color = [1,
			opaque = 0.5,
			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,
			ns = 'line strip',
			id = 0,
			duration = 20.,
			color = [0,
			opaque = 1.0,
			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',
			size = .005,
			ns = 'points',
			id = 0,
			duration = 20.,
			color = [0,
			opaque = 1.0,
			pose_mat = None,
			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',
			ns = 'spheres',
			id = 0,
			duration = 60.,
			color = [1,
			opaque = 0.5,
			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.

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Member Data Documentation

object_manipulator::draw_functions.DrawFunctions::marker_pub

Definition at line 56 of file draw_functions.py.

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

• draw_functions.py