Program Listing for File robot_model_display.hpp
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/*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__ROBOT_MODEL__ROBOT_MODEL_DISPLAY_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__ROBOT_MODEL__ROBOT_MODEL_DISPLAY_HPP_
#include <map>
#include <memory>
#include <string>
#include <OgreVector3.h>
#include "std_msgs/msg/string.hpp"
#include "rviz_common/ros_topic_display.hpp"
#include "rviz_default_plugins/transformation/transformer_guard.hpp"
#include "rviz_default_plugins/transformation/tf_frame_transformer.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
namespace Ogre
{
class Entity;
class SceneNode;
}
namespace rviz_rendering
{
class Axes;
}
namespace rviz_common
{
namespace properties
{
class EnumProperty;
class FilePickerProperty;
class FloatProperty;
class Property;
class StringProperty;
} // namespace properties
} // namespace rviz_common
namespace rviz_default_plugins
{
namespace robot
{
class Robot;
}
namespace displays
{
class RVIZ_DEFAULT_PLUGINS_PUBLIC RobotModelDisplay : public
rviz_common::RosTopicDisplay<std_msgs::msg::String>
{
Q_OBJECT
public:
RobotModelDisplay();
~RobotModelDisplay() override;
// Overrides from Display
void onInitialize() override;
void update(float wall_dt, float ros_dt) override;
void fixedFrameChanged() override;
void reset() override;
void clear();
private Q_SLOTS:
void updateVisualVisible();
void updateCollisionVisible();
void updateTfPrefix();
void updateAlpha();
void updatePropertyVisibility();
void updateRobotDescription();
void updateMassVisible();
void updateInertiaVisible();
void updateTopic() override;
protected:
virtual void load_urdf();
virtual void load_urdf_from_file(const std::string & filepath);
virtual void load_urdf_from_string(const std::string & robot_description);
void display_urdf_content();
void updateRobot();
void processMessage(std_msgs::msg::String::ConstSharedPtr msg) override;
// overrides from Display
void onEnable() override;
void onDisable() override;
std::unique_ptr<robot::Robot> robot_;
bool has_new_transforms_;
float time_since_last_transform_;
std::string robot_description_;
rviz_common::properties::Property * visual_enabled_property_;
rviz_common::properties::Property * collision_enabled_property_;
rviz_common::properties::FloatProperty * update_rate_property_;
rviz_common::properties::EnumProperty * description_source_property_;
rviz_common::properties::FilePickerProperty * description_file_property_;
rviz_common::properties::FloatProperty * alpha_property_;
rviz_common::properties::StringProperty * tf_prefix_property_;
rviz_common::properties::Property * mass_properties_;
rviz_common::properties::Property * mass_enabled_property_;
rviz_common::properties::Property * inertia_enabled_property_;
std::unique_ptr<rviz_default_plugins::transformation::TransformerGuard<
rviz_default_plugins::transformation::TFFrameTransformer>> transformer_guard_;
};
} // namespace displays
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__ROBOT_MODEL__ROBOT_MODEL_DISPLAY_HPP_