Contains any data we need from a link in the robot. More...

#include <robot_link.h>

Public Slots
void	updateVisibility ()
	Update the visibility of the link elements: visual mesh, collision mesh, trail, and axes.
Public Member Functions
void	expandDetails (bool expand)
const std::vector< std::string > &	getChildJointNames () const
Ogre::SceneNode *	getCollisionNode () const
Property *	getLinkProperty () const
const std::string &	getName () const
bool	getOnlyRenderDepth () const
Ogre::Quaternion	getOrientation ()
const std::string &	getParentJointName () const
Ogre::Vector3	getPosition ()
Robot *	getRobot () const
bool	getSelectable ()
Ogre::SceneNode *	getVisualNode () const
bool	hasGeometry () const
virtual void	hideSubProperties (bool hide)
	RobotLink (Robot *robot, const urdf::LinkConstSharedPtr &link, const std::string &parent_joint_name, bool visual, bool collision)
void	setColor (float red, float green, float blue)
void	setOnlyRenderDepth (bool onlyRenderDepth)
void	setParentProperty (Property *new_parent)
virtual void	setRobotAlpha (float a)
bool	setSelectable (bool selectable)
	set whether the link is selectable. If false objects behind/inside the link can be selected/manipulated. Returns old value.
void	setToErrorMaterial ()
void	setToNormalMaterial ()
virtual void	setTransforms (const Ogre::Vector3 &visual_position, const Ogre::Quaternion &visual_orientation, const Ogre::Vector3 &collision_position, const Ogre::Quaternion &collision_orientation)
void	unsetColor ()
void	useDetailProperty (bool use_detail)
virtual	~RobotLink ()
Protected Attributes
FloatProperty *	alpha_property_
Property *	axes_property_
std::vector< std::string >	child_joint_names_
DisplayContext *	context_
Property *	details_
Property *	link_property_
std::string	name_
	Name of this link.
QuaternionProperty *	orientation_property_
std::string	parent_joint_name_
VectorProperty *	position_property_
Robot *	robot_
Ogre::SceneManager *	scene_manager_
Property *	trail_property_
Private Types
typedef std::map < Ogre::SubEntity *, Ogre::MaterialPtr >	M_SubEntityToMaterial
Private Slots
void	updateAlpha ()
void	updateAxes ()
void	updateTrail ()
Private Member Functions
void	createCollision (const urdf::LinkConstSharedPtr &link)
void	createEntityForGeometryElement (const urdf::LinkConstSharedPtr &link, const urdf::Geometry &geom, const urdf::Pose &origin, const std::string material_name, Ogre::SceneNode scene_node, Ogre::Entity &entity)
void	createSelection ()
void	createVisual (const urdf::LinkConstSharedPtr &link)
bool	getEnabled () const
Ogre::MaterialPtr	getMaterialForLink (const urdf::LinkConstSharedPtr &link, const std::string material_name="")
void	setRenderQueueGroup (Ogre::uint8 group)
Private Attributes
Axes *	axes_
std::vector< Ogre::Entity * >	collision_meshes_
	The entities representing the collision mesh of this link (if they exist)
Ogre::SceneNode *	collision_node_
	The scene node the collision meshes are attached to.
Ogre::MaterialPtr	color_material_
Ogre::MaterialPtr	default_material_
std::string	default_material_name_
bool	is_selectable_
std::string	joint_name_
float	material_alpha_
	If material is not a texture, this saves the alpha value set in the URDF, otherwise is 1.0.
M_SubEntityToMaterial	materials_
bool	only_render_depth_
float	robot_alpha_
	Alpha value from top-level robot alpha Property (set via setRobotAlpha()).
RobotLinkSelectionHandlerPtr	selection_handler_
Ogre::RibbonTrail *	trail_
bool	using_color_
std::vector< Ogre::Entity * >	visual_meshes_
	The entities representing the visual mesh of this link (if they exist)
Ogre::SceneNode *	visual_node_
	The scene node the visual meshes are attached to.
Friends
class	RobotLinkSelectionHandler

Detailed Description

Contains any data we need from a link in the robot.

Definition at line 84 of file robot_link.h.

Member Typedef Documentation

typedef std::map<Ogre::SubEntity*, Ogre::MaterialPtr> rviz::RobotLink::M_SubEntityToMaterial [private]

Definition at line 187 of file robot_link.h.

Constructor & Destructor Documentation

rviz::RobotLink::RobotLink	(	Robot *	robot,
		const urdf::LinkConstSharedPtr &	link,
		const std::string &	parent_joint_name,
		bool	visual,
		bool	collision
	)

Definition at line 157 of file robot_link.cpp.

rviz::RobotLink::~RobotLink ( ) [virtual]

Definition at line 304 of file robot_link.cpp.

Member Function Documentation

void rviz::RobotLink::createCollision ( const urdf::LinkConstSharedPtr & link ) [private]

Definition at line 674 of file robot_link.cpp.

void rviz::RobotLink::createEntityForGeometryElement	(	const urdf::LinkConstSharedPtr &	link,
		const urdf::Geometry &	geom,
		const urdf::Pose &	origin,
		const std::string	material_name,
		Ogre::SceneNode *	scene_node,
		Ogre::Entity *&	entity
	)		`[private]`

Definition at line 527 of file robot_link.cpp.

void rviz::RobotLink::createSelection ( ) [private]

Definition at line 788 of file robot_link.cpp.

void rviz::RobotLink::createVisual ( const urdf::LinkConstSharedPtr & link ) [private]

Definition at line 731 of file robot_link.cpp.

void rviz::RobotLink::expandDetails ( bool expand )

Definition at line 1018 of file robot_link.cpp.

const std::vector<std::string>& rviz::RobotLink::getChildJointNames ( ) const [inline]

Definition at line 103 of file robot_link.h.

Ogre::SceneNode* rviz::RobotLink::getCollisionNode ( ) const [inline]

Definition at line 106 of file robot_link.h.

bool rviz::RobotLink::getEnabled ( ) const [private]

Definition at line 334 of file robot_link.cpp.

Property* rviz::RobotLink::getLinkProperty ( ) const [inline]

Definition at line 104 of file robot_link.h.

Ogre::MaterialPtr rviz::RobotLink::getMaterialForLink	(	const urdf::LinkConstSharedPtr &	link,
		const std::string	material_name = `""`
	)		`[private]`

Definition at line 445 of file robot_link.cpp.

const std::string& rviz::RobotLink::getName ( void ) const [inline]

Definition at line 101 of file robot_link.h.

bool rviz::RobotLink::getOnlyRenderDepth ( ) const [inline]

Definition at line 135 of file robot_link.h.

Ogre::Quaternion rviz::RobotLink::getOrientation ( )

Definition at line 969 of file robot_link.cpp.

const std::string& rviz::RobotLink::getParentJointName ( ) const [inline]

Definition at line 102 of file robot_link.h.

Ogre::Vector3 rviz::RobotLink::getPosition ( )

Definition at line 964 of file robot_link.cpp.

Robot* rviz::RobotLink::getRobot ( ) const [inline]

Definition at line 107 of file robot_link.h.

bool rviz::RobotLink::getSelectable ( )

Definition at line 950 of file robot_link.cpp.

Ogre::SceneNode* rviz::RobotLink::getVisualNode ( ) const [inline]

Definition at line 105 of file robot_link.h.

bool rviz::RobotLink::hasGeometry ( ) const

Definition at line 329 of file robot_link.cpp.

void rviz::RobotLink::hideSubProperties ( bool hide ) [virtual]

Definition at line 955 of file robot_link.cpp.

void rviz::RobotLink::setColor	(	float	red,
		float	green,
		float	blue
	)

Definition at line 924 of file robot_link.cpp.

void rviz::RobotLink::setOnlyRenderDepth ( bool onlyRenderDepth )

Definition at line 365 of file robot_link.cpp.

void rviz::RobotLink::setParentProperty ( Property * new_parent )

Definition at line 974 of file robot_link.cpp.

void rviz::RobotLink::setRenderQueueGroup ( Ogre::uint8 group ) [private]

Definition at line 347 of file robot_link.cpp.

void rviz::RobotLink::setRobotAlpha ( float a ) [virtual]

Definition at line 341 of file robot_link.cpp.

bool rviz::RobotLink::setSelectable ( bool selectable )

set whether the link is selectable. If false objects behind/inside the link can be selected/manipulated. Returns old value.

Definition at line 943 of file robot_link.cpp.

void rviz::RobotLink::setToErrorMaterial ( )

Definition at line 888 of file robot_link.cpp.

void rviz::RobotLink::setToNormalMaterial ( )

Definition at line 900 of file robot_link.cpp.

void rviz::RobotLink::setTransforms	(	const Ogre::Vector3 &	visual_position,
		const Ogre::Quaternion &	visual_orientation,
		const Ogre::Vector3 &	collision_position,
		const Ogre::Quaternion &	collision_orientation
	)		`[virtual]`