Uses a robot xml description to display the pieces of a robot at the transforms broadcast by rosTF. More...
#include <robot_model_display.h>
Public Member Functions | |
void | clear () |
virtual void | fixedFrameChanged () |
Called by setFixedFrame(). Override to respond to changes to fixed_frame_. | |
virtual void | onInitialize () |
Override this function to do subclass-specific initialization. | |
virtual void | reset () |
Called to tell the display to clear its state. | |
RobotModelDisplay () | |
virtual void | update (float wall_dt, float ros_dt) |
Called periodically by the visualization manager. | |
virtual | ~RobotModelDisplay () |
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. | |
virtual void | onDisable () |
Derived classes override this to do the actual work of disabling themselves. | |
virtual void | onEnable () |
Derived classes override this to do the actual work of enabling themselves. | |
Protected Attributes | |
FloatProperty * | alpha_property_ |
Property * | collision_enabled_property_ |
bool | has_new_transforms_ |
Callback sets this to tell our update function it needs to update the transforms. | |
Robot * | robot_ |
Handles actually drawing the robot. | |
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_ |
Private Slots | |
void | updateAlpha () |
void | updateCollisionVisible () |
void | updateRobotDescription () |
void | updateTfPrefix () |
void | updateVisualVisible () |
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.
Definition at line 57 of file robot_model_display.cpp.
rviz::RobotModelDisplay::~RobotModelDisplay | ( | ) | [virtual] |
Definition at line 92 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::clear | ( | ) |
Definition at line 235 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::fixedFrameChanged | ( | ) | [virtual] |
Called by setFixedFrame(). Override to respond to changes to fixed_frame_.
Reimplemented from rviz::Display.
Definition at line 230 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::load | ( | ) | [protected, virtual] |
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 142 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::onDisable | ( | ) | [protected, virtual] |
Derived classes override this to do the actual work of disabling themselves.
Reimplemented from rviz::Display.
Definition at line 206 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::onEnable | ( | ) | [protected, virtual] |
Derived classes override this to do the actual work of enabling themselves.
Reimplemented from rviz::Display.
Definition at line 200 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::onInitialize | ( | ) | [virtual] |
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 100 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::reset | ( | ) | [virtual] |
Called to tell the display to clear its state.
Reimplemented from rviz::Display.
Definition at line 242 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::update | ( | float | wall_dt, |
float | ros_dt | ||
) | [virtual] |
Called periodically by the visualization manager.
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 212 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::updateAlpha | ( | ) | [private, slot] |
Definition at line 109 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::updateCollisionVisible | ( | ) | [private, slot] |
Definition at line 130 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::updateRobotDescription | ( | ) | [private, slot] |
Definition at line 115 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::updateTfPrefix | ( | ) | [private, slot] |
Definition at line 136 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::updateVisualVisible | ( | ) | [private, slot] |
Definition at line 124 of file robot_model_display.cpp.
FloatProperty* rviz::RobotModelDisplay::alpha_property_ [protected] |
Definition at line 106 of file robot_model_display.h.
Definition at line 103 of file robot_model_display.h.
bool rviz::RobotModelDisplay::has_new_transforms_ [protected] |
Callback sets this to tell our update function it needs to update the transforms.
Definition at line 96 of file robot_model_display.h.
Robot* rviz::RobotModelDisplay::robot_ [protected] |
Handles actually drawing the robot.
Definition at line 94 of file robot_model_display.h.
std::string rviz::RobotModelDisplay::robot_description_ [protected] |
Definition at line 100 of file robot_model_display.h.
Definition at line 105 of file robot_model_display.h.
Definition at line 107 of file robot_model_display.h.
float rviz::RobotModelDisplay::time_since_last_transform_ [protected] |
Definition at line 98 of file robot_model_display.h.
Definition at line 104 of file robot_model_display.h.
Definition at line 102 of file robot_model_display.h.