#include <rviz_visual_tools.h>

Public Member Functions
Eigen::Vector3d	convertPoint (const geometry_msgs::Point &point)
	Convert a geometry_msg point to an Eigen point Note: Not thread safe but very convenient.
geometry_msgs::Point	convertPoint (const geometry_msgs::Vector3 &point)
	Convert a Vector3 to a geometry_msg Point Note: Not thread safe but very convenient.
geometry_msgs::Point	convertPoint (const Eigen::Vector3d &point)
	Convert a Eigen point to a geometry_msg Point Note: Not thread safe but very convenient.
Eigen::Vector3d	convertPoint32 (const geometry_msgs::Point32 &point)
	Convert a geometry_msg point to an Eigen point Note: Not thread safe but very convenient.
geometry_msgs::Point32	convertPoint32 (const Eigen::Vector3d &point)
	Convert an Eigen point to a 32 bit geometry_msg point Note: Not thread safe but very convenient.
Eigen::Affine3d	convertPoint32ToPose (const geometry_msgs::Point32 &point)
	Convert a geometry_msg point (32bit) to an Eigen pose Note: Not thread safe but very convenient.
geometry_msgs::Pose	convertPointToPose (const geometry_msgs::Point &point)
	Add an identity rotation matrix to make a point have a full pose.
Eigen::Affine3d	convertPointToPose (const Eigen::Vector3d &point)
geometry_msgs::Pose	convertPose (const Eigen::Affine3d &pose)
	Convert an Eigen pose to a geometry_msg pose Note: Not thread safe but very convenient.
Eigen::Affine3d	convertPose (const geometry_msgs::Pose &pose)
	Convert a geometry_msg pose to an Eigen pose Note: Not thread safe but very convenient.
geometry_msgs::Point	convertPoseToPoint (const Eigen::Affine3d &pose)
	Convert an Eigen pose to a geometry_msg point Note: Not thread safe but very convenient.
std_msgs::ColorRGBA	createRandColor ()
	Create a random color that is not too light.
bool	deleteAllMarkers ()
	Tell Rviz to clear all markers on a particular display. Note: only works on ROS Indigo and newer.
void	enableBatchPublishing (bool enable=true)
	Enable batch publishing - useful for when many markers need to be published at once and the ROS topic can get overloaded. This collects all published markers into array and only publishes them with triggerBatchPublish() is called.
void	generateEmptyPose (geometry_msgs::Pose &pose)
	Create a pose of position (0,0,0) and quaternion (0,0,0,1)
void	generateRandomCuboid (geometry_msgs::Pose &cuboid_pose, double &depth, double &width, double &height, RandomPoseBounds pose_bounds=RandomPoseBounds(), RandomCuboidBounds cuboid_bounds=RandomCuboidBounds())
	Create a random rectangular cuboid of some shape.
void	generateRandomPose (geometry_msgs::Pose &pose, RandomPoseBounds pose_bounds=RandomPoseBounds())
	Create a random pose within bounds of random_pose_bounds_.
void	generateRandomPose (Eigen::Affine3d &pose, RandomPoseBounds pose_bounds=RandomPoseBounds())
const std::string	getBaseFrame ()
	Get the base frame.
Eigen::Vector3d	getCenterPoint (Eigen::Vector3d a, Eigen::Vector3d b)
	Find the center between to points.
std_msgs::ColorRGBA	getColor (const colors &color)
	Get the RGB value of standard colors.
std_msgs::ColorRGBA	getColorScale (double value)
	Convert a value from [0,1] to a color Green->Red.
double	getGlobalScale ()
	Getter for the global scale used for changing size of all markers.
const bool &	getPsychedelicMode () const
	Getter for PsychedelicMode.
colors	getRandColor ()
	Get a random color from the list of hardcoded enum color types.
geometry_msgs::Vector3	getScale (const scales &scale, bool arrow_scale=false, double marker_scale=1.0)
	Get the rviz marker scale of standard sizes.
Eigen::Affine3d	getVectorBetweenPoints (Eigen::Vector3d a, Eigen::Vector3d b)
	Create a vector that points from point a to point b.
void	loadMarkerPub (bool wait_for_subscriber=false, bool latched=false)
	Load publishers as needed.
bool	loadRvizMarkers ()
	Pre-load rviz markers for better efficiency.
bool	posesEqual (const Eigen::Affine3d &pose1, const Eigen::Affine3d &pose2, const double &threshold=0.000001)
	Test if two Eigen poses are close enough.
bool	publishArrow (const Eigen::Affine3d &pose, const colors &color=BLUE, const scales &scale=REGULAR, double length=0.1, const std::size_t &id=0)
	Display an arrow along the x-axis of a pose.
bool	publishArrow (const geometry_msgs::Pose &pose, const colors &color=BLUE, const scales &scale=REGULAR, double length=0.1, const std::size_t &id=0)
bool	publishArrow (const geometry_msgs::PoseStamped &pose, const colors &color=BLUE, const scales &scale=REGULAR, double length=0.1, const std::size_t &id=0)
bool	publishAxis (const geometry_msgs::Pose &pose, double length=0.1, double radius=0.01, const std::string &ns="Axis")
	Display a marker of a axis.
bool	publishAxis (const Eigen::Affine3d &pose, double length=0.1, double radius=0.01, const std::string &ns="Axis")
bool	publishAxisLabeled (const Eigen::Affine3d &pose, const std::string &label, const scales &scale=SMALL, const colors &color=WHITE)
	Display a marker of a axis with a text label describing it.
bool	publishAxisLabeled (const geometry_msgs::Pose &pose, const std::string &label, const scales &scale=SMALL, const colors &color=WHITE)
bool	publishBlock (const geometry_msgs::Pose &pose, const colors &color=BLUE, const double &block_size=0.1)
	Display a marker of a block.
RVIZ_VISUAL_TOOLS_DEPRECATED bool	publishBlock (const Eigen::Affine3d &pose, const colors &color=BLUE, const double &block_size=0.1)
bool	publishCone (const Eigen::Affine3d &pose, double angle, const rviz_visual_tools::colors &color=TRANSLUCENT, double scale=1.0)
	Display a cone of a given angle along the x-axis.
bool	publishCone (const geometry_msgs::Pose &pose, double angle, const rviz_visual_tools::colors &color=TRANSLUCENT, double scale=1.0)
bool	publishCuboid (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const colors &color=BLUE)
	Display a rectangular cuboid.
bool	publishCuboid (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const colors &color=BLUE, const std::string &ns="Cuboid", const std::size_t &id=0)
bool	publishCuboid (const geometry_msgs::Pose &pose, const double depth, const double width, const double height, const colors &color=BLUE)
	Display a rectangular cuboid.
bool	publishCuboid (const Eigen::Affine3d &pose, const double depth, const double width, const double height, const colors &color=BLUE)
bool	publishCylinder (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const colors &color=BLUE, double radius=0.01, const std::string &ns="Cylinder")
	Display a marker of a cylinder.
bool	publishCylinder (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, double radius=0.01, const std::string &ns="Cylinder")
bool	publishCylinder (const Eigen::Affine3d &pose, const colors &color=BLUE, double height=0.1, double radius=0.01, const std::string &ns="Cylinder")
	Display a marker of a cylinder.
bool	publishCylinder (const geometry_msgs::Pose &pose, const colors &color=BLUE, double height=0.1, double radius=0.01, const std::string &ns="Cylinder")
bool	publishCylinder (const geometry_msgs::Pose &pose, const std_msgs::ColorRGBA &color, double height=0.1, double radius=0.01, const std::string &ns="Cylinder")
bool	publishGraph (const graph_msgs::GeometryGraph &graph, const colors &color, double radius)
	Display a graph.
bool	publishLine (const Eigen::Affine3d &point1, const Eigen::Affine3d &point2, const colors &color=BLUE, const scales &scale=REGULAR)
	Display a marker of line.
bool	publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const colors &color=BLUE, const scales &scale=REGULAR)
bool	publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, const scales &scale=REGULAR)
bool	publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, const double &radius)
bool	publishLine (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const colors &color=BLUE, const scales &scale=REGULAR)
bool	publishLine (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const std_msgs::ColorRGBA &color, const scales &scale=REGULAR)
bool	publishLine (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const std_msgs::ColorRGBA &color, const geometry_msgs::Vector3 &scale)
bool	publishMarker (visualization_msgs::Marker &marker)
	Display a visualization_msgs Marker of a custom type. Allows reuse of the ros publisher.
bool	publishMarkers (visualization_msgs::MarkerArray &markers)
	Display an array of markers, allows reuse of the ROS publisher.
bool	publishMesh (const Eigen::Affine3d &pose, const std::string &file_name, const colors &color=CLEAR, double scale=1, const std::string &ns="mesh", const std::size_t &id=0)
	Display a mesh from file.
bool	publishMesh (const geometry_msgs::Pose &pose, const std::string &file_name, const colors &color=CLEAR, double scale=1, const std::string &ns="mesh", const std::size_t &id=0)
bool	publishPath (const std::vector< geometry_msgs::Point > &path, const colors &color=RED, const scales &scale=REGULAR, const std::string &ns="Path")
	Display a marker of a series of connected lines.
bool	publishPath (const std::vector< Eigen::Vector3d > &path, const colors &color=RED, const double radius=0.01, const std::string &ns="Path")
bool	publishPolygon (const geometry_msgs::Polygon &polygon, const colors &color=RED, const scales &scale=REGULAR, const std::string &ns="Polygon")
	Display a marker of a polygon.
bool	publishSphere (const Eigen::Affine3d &pose, const colors &color=BLUE, const scales &scale=REGULAR, const std::string &ns="Sphere", const std::size_t &id=0)
	Display a marker of a sphere.
bool	publishSphere (const Eigen::Vector3d &point, const colors &color=BLUE, const scales &scale=REGULAR, const std::string &ns="Sphere", const std::size_t &id=0)
bool	publishSphere (const Eigen::Vector3d &point, const colors &color, const double scale, const std::string &ns="Sphere", const std::size_t &id=0)
bool	publishSphere (const geometry_msgs::Point &point, const colors &color=BLUE, const scales &scale=REGULAR, const std::string &ns="Sphere", const std::size_t &id=0)
bool	publishSphere (const geometry_msgs::Pose &pose, const colors &color=BLUE, const scales &scale=REGULAR, const std::string &ns="Sphere", const std::size_t &id=0)
bool	publishSphere (const geometry_msgs::Pose &pose, const colors &color, const double scale, const std::string &ns="Sphere", const std::size_t &id=0)
bool	publishSphere (const geometry_msgs::Pose &pose, const colors &color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", const std::size_t &id=0)
bool	publishSphere (const geometry_msgs::Pose &pose, const std_msgs::ColorRGBA &color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", const std::size_t &id=0)
bool	publishSphere (const Eigen::Affine3d &pose, const std_msgs::ColorRGBA &color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", const std::size_t &id=0)
bool	publishSphere (const geometry_msgs::PoseStamped &pose, const colors &color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", const std::size_t &id=0)
bool	publishSpheres (const std::vector< Eigen::Vector3d > &points, const colors &color=BLUE, const double scale=0.1, const std::string &ns="Spheres")
	Display a marker of a series of spheres.
bool	publishSpheres (const std::vector< geometry_msgs::Point > &points, const colors &color=BLUE, const double scale=0.1, const std::string &ns="Spheres")
bool	publishSpheres (const std::vector< geometry_msgs::Point > &points, const colors &color=BLUE, const scales &scale=REGULAR, const std::string &ns="Spheres")
bool	publishSpheres (const std::vector< geometry_msgs::Point > &points, const colors &color, const geometry_msgs::Vector3 &scale, const std::string &ns="Spheres")
RVIZ_VISUAL_TOOLS_DEPRECATED bool	publishTests ()
	Run a simple test of all visual_tool's features.
bool	publishText (const Eigen::Affine3d &pose, const std::string &text, const colors &color=WHITE, const scales &scale=REGULAR, bool static_id=true)
	Display a marker of a text.
bool	publishText (const Eigen::Affine3d &pose, const std::string &text, const colors &color, const geometry_msgs::Vector3 scale, bool static_id=true)
bool	publishText (const geometry_msgs::Pose &pose, const std::string &text, const colors &color=WHITE, const scales &scale=REGULAR, bool static_id=true)
bool	publishText (const geometry_msgs::Pose &pose, const std::string &text, const colors &color, const geometry_msgs::Vector3 scale, bool static_id=true)
bool	publishWireframeCuboid (const Eigen::Affine3d &pose, double depth, double width, double height, const rviz_visual_tools::colors &color=BLUE, const std::string &ns="Wireframe Cuboid", const std::size_t &id=0)
	Publish transformed wireframe cuboid. Useful eg to show an oriented bounding box.
bool	publishWireframeCuboid (const Eigen::Affine3d &pose, const Eigen::Vector3d &min_point, const Eigen::Vector3d &max_point, const rviz_visual_tools::colors &color=BLUE, const std::string &ns="Wireframe Cuboid", const std::size_t &id=0)
	Publish transformed wireframe cuboid. Useful eg to show an oriented bounding box.
bool	publishWireframeRectangle (const Eigen::Affine3d &pose, const double &height, const double &width, const colors &color=BLUE, const scales &scale=REGULAR)
	Publish outline of a rectangle.
bool	publishWireframeRectangle (const Eigen::Affine3d &pose, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2, const Eigen::Vector3d &p3, const Eigen::Vector3d &p4, const colors &color, const scales &scale)
bool	publishXArrow (const Eigen::Affine3d &pose, const colors &color=RED, const scales &scale=REGULAR, double length=0.1)
	Display an arrow along the x-axis of a pose.
bool	publishXArrow (const geometry_msgs::Pose &pose, const colors &color=RED, const scales &scale=REGULAR, double length=0.1)
bool	publishXArrow (const geometry_msgs::PoseStamped &pose, const colors &color=RED, const scales &scale=REGULAR, double length=0.1)
bool	publishXYPlane (const Eigen::Affine3d &pose, const rviz_visual_tools::colors &color=TRANSLUCENT, double scale=1.0)
	Display the XY plane of a given pose.
bool	publishXYPlane (const geometry_msgs::Pose &pose, const rviz_visual_tools::colors &color=TRANSLUCENT, double scale=1.0)
bool	publishXZPlane (const Eigen::Affine3d &pose, const rviz_visual_tools::colors &color=TRANSLUCENT, double scale=1.0)
	Display the XY plane of a given pose.
bool	publishXZPlane (const geometry_msgs::Pose &pose, const rviz_visual_tools::colors &color=TRANSLUCENT, double scale=1.0)
bool	publishYArrow (const Eigen::Affine3d &pose, const colors &color=GREEN, const scales &scale=REGULAR, double length=0.1)
	Display an arrow along the y-axis of a pose.
bool	publishYArrow (const geometry_msgs::Pose &pose, const colors &color=GREEN, const scales &scale=REGULAR, double length=0.1)
bool	publishYArrow (const geometry_msgs::PoseStamped &pose, const colors &color=GREEN, const scales &scale=REGULAR, double length=0.1)
bool	publishYZPlane (const Eigen::Affine3d &pose, const rviz_visual_tools::colors &color=TRANSLUCENT, double scale=1.0)
	Display the XY plane of a given pose.
bool	publishYZPlane (const geometry_msgs::Pose &pose, const rviz_visual_tools::colors &color=TRANSLUCENT, double scale=1.0)
bool	publishZArrow (const Eigen::Affine3d &pose, const colors &color=BLUE, const scales &scale=REGULAR, double length=0.1, const std::size_t &id=0)
	Display an arrow along the z-axis of a pose.
bool	publishZArrow (const geometry_msgs::Pose &pose, const colors &color=BLUE, const scales &scale=REGULAR, double length=0.1)
bool	publishZArrow (const geometry_msgs::PoseStamped &pose, const colors &color=BLUE, const scales &scale=REGULAR, double length=0.1)
bool	publishZArrow (const geometry_msgs::PoseStamped &pose, const colors &color=BLUE, const scales &scale=REGULAR, double length=0.1, const std::size_t &id=0)
void	resetMarkerCounts ()
	Reset the id's of all published markers so that they overwrite themselves in the future NOTE you may prefer deleteAllMarkers()
	RvizVisualTools (const std::string &base_frame, const std::string &marker_topic=RVIZ_MARKER_TOPIC)
	Constructor.
void	setAlpha (double alpha)
	Change the transparency of all markers published.
void	setBaseFrame (const std::string &base_frame)
	Change the global base frame Note: this might reset all your current markers.
void	setFloorToBaseHeight (double floor_to_base_height)
	Allows an offset between base link and floor where objects are built. Default is zero.
void	setGlobalScale (double global_scale)
	Setter for the global scale used for changing size of all markers.
void	setLifetime (double lifetime)
	Set the lifetime of markers published to rviz.
void	setMarkerTopic (const std::string &topic)
	Set marker array topic.
void	setPsychedelicMode (const bool &psychedelic_mode=true)
	Setter for PsychedelicMode.
double	slerp (double start, double end, double range, double value)
	Interpolate from [start, end] with value of size steps with current value count.
bool	triggerBatchPublish ()
	Trigger the publish function to send out all collected markers.
bool	triggerBatchPublishAndDisable ()
	Trigger the publish function to send out all collected markers. Also then turns off the batch mode. This is safer incase programmer forgets.
bool	waitForSubscriber (const ros::Publisher &pub, const double &wait_time=0.5)
	Wait until at least one subscriber connects to a publisher.
	~RvizVisualTools ()
	Deconstructor.
Static Public Member Functions
static Eigen::Affine3d	convertFromXYZRPY (const double &x, const double &y, const double &z, const double &roll, const double &pitch, const double &yaw)
	Convert a 6-vector of x,y,z, roll,pitch,yall to an Affine3d with quaternion using Euler R-P-Y / X-Y-Z / 0-1-2 Euler Angle Standard.
static Eigen::Affine3d	convertFromXYZRPY (std::vector< double > transform6)
static void	convertPoseSafe (const Eigen::Affine3d &pose, geometry_msgs::Pose &pose_msg)
	Convert an Eigen pose to a geometry_msg pose - thread safe.
static void	convertToXYZRPY (const Eigen::Affine3d &pose, std::vector< double > &xyzrpy)
	Convert an affine3d to xyz rpy components R-P-Y / X-Y-Z / 0-1-2 Euler Angle Standard.
static void	convertToXYZRPY (const Eigen::Affine3d &pose, double &x, double &y, double &z, double &roll, double &pitch, double &yaw)
static double	dRand (double min, double max)
	Get random between min and max.
static float	fRand (float min, float max)
static int	iRand (int min, int max)
static void	printTransform (const Eigen::Affine3d &transform)
	Display in the console a transform in quaternions.
static void	printTransformRPY (const Eigen::Affine3d &transform)
	Display in the console a transform in roll pitch yaw.
Protected Member Functions
void	enableInternalBatchPublishing (bool enable)
	Allows certain marker functions to batch publish without breaking external functinality.
bool	triggerInternalBatchPublishAndDisable ()
	Trigger the publish function to send out all collected markers. Also then turns off the batch mode. This is safer incase programmer forgets. This is the internal version.
Protected Attributes
double	alpha_
visualization_msgs::Marker	arrow_marker_
std::string	base_frame_
bool	batch_publishing_enabled_
visualization_msgs::Marker	block_marker_
visualization_msgs::Marker	cuboid_marker_
visualization_msgs::Marker	cylinder_marker_
double	global_scale_
bool	internal_batch_publishing_enabled_
visualization_msgs::Marker	line_list_marker_
visualization_msgs::Marker	line_strip_marker_
ros::Duration	marker_lifetime_
std::string	marker_topic_
visualization_msgs::MarkerArray	markers_
visualization_msgs::Marker	mesh_marker_
std::string	name_
ros::NodeHandle	nh_
bool	psychedelic_mode_
ros::Publisher	pub_rviz_markers_
bool	pub_rviz_markers_connected_
bool	pub_rviz_markers_waited_
visualization_msgs::Marker	reset_marker_
geometry_msgs::Point32	shared_point32_msg_
Eigen::Vector3d	shared_point_eigen_
geometry_msgs::Point	shared_point_msg_
Eigen::Affine3d	shared_pose_eigen_
geometry_msgs::Pose	shared_pose_msg_
visualization_msgs::Marker	sphere_marker_
visualization_msgs::Marker	spheres_marker_
visualization_msgs::Marker	text_marker_
visualization_msgs::Marker	triangle_marker_
Private Member Functions
void	initialize ()
	Shared function for initilization by constructors.

Detailed Description

Definition at line 162 of file rviz_visual_tools.h.

Constructor & Destructor Documentation

rviz_visual_tools::RvizVisualTools::RvizVisualTools	(	const std::string &	base_frame,
		const std::string &	marker_topic = `RVIZ_MARKER_TOPIC`
	)		`[explicit]`

Constructor.

Parameters:

base_frame	- common base for all visualization markers, usually "/world" or "/odom"
marker_topic	- rostopic to publish markers to - your Rviz display should match

Definition at line 54 of file rviz_visual_tools.cpp.

rviz_visual_tools::RvizVisualTools::~RvizVisualTools ( ) [inline]

Deconstructor.

Definition at line 180 of file rviz_visual_tools.h.

Member Function Documentation

Eigen::Affine3d rviz_visual_tools::RvizVisualTools::convertFromXYZRPY	(	const double &	x,
		const double &	y,
		const double &	z,
		const double &	roll,
		const double &	pitch,
		const double &	yaw
	)		`[static]`

Convert a 6-vector of x,y,z, roll,pitch,yall to an Affine3d with quaternion using Euler R-P-Y / X-Y-Z / 0-1-2 Euler Angle Standard.

Returns:: 4x4 matrix in form of affine3d

Definition at line 2115 of file rviz_visual_tools.cpp.

Eigen::Affine3d rviz_visual_tools::RvizVisualTools::convertFromXYZRPY ( std::vector< double > transform6 ) [static]

Definition at line 2103 of file rviz_visual_tools.cpp.

Eigen::Vector3d rviz_visual_tools::RvizVisualTools::convertPoint ( const geometry_msgs::Point & point )

Convert a geometry_msg point to an Eigen point Note: Not thread safe but very convenient.

Parameters:

point

Returns:: converted pose

Definition at line 2063 of file rviz_visual_tools.cpp.

geometry_msgs::Point rviz_visual_tools::RvizVisualTools::convertPoint ( const geometry_msgs::Vector3 & point )

Convert a Vector3 to a geometry_msg Point Note: Not thread safe but very convenient.

Parameters:

point

Returns:: converted point

Definition at line 2087 of file rviz_visual_tools.cpp.

geometry_msgs::Point rviz_visual_tools::RvizVisualTools::convertPoint ( const Eigen::Vector3d & point )

Convert a Eigen point to a geometry_msg Point Note: Not thread safe but very convenient.

Parameters:

point

Returns:: converted point

Definition at line 2095 of file rviz_visual_tools.cpp.

Eigen::Vector3d rviz_visual_tools::RvizVisualTools::convertPoint32 ( const geometry_msgs::Point32 & point )

Convert a geometry_msg point to an Eigen point Note: Not thread safe but very convenient.

Parameters:

point

Returns:: converted pose

Definition at line 2071 of file rviz_visual_tools.cpp.

geometry_msgs::Point32 rviz_visual_tools::RvizVisualTools::convertPoint32 ( const Eigen::Vector3d & point )

Convert an Eigen point to a 32 bit geometry_msg point Note: Not thread safe but very convenient.

Parameters:

point

Returns:: converted pose

Definition at line 2079 of file rviz_visual_tools.cpp.

Eigen::Affine3d rviz_visual_tools::RvizVisualTools::convertPoint32ToPose ( const geometry_msgs::Point32 & point )

Convert a geometry_msg point (32bit) to an Eigen pose Note: Not thread safe but very convenient.

Parameters:

pose

Returns:: converted point with default rotation matrix

Definition at line 2031 of file rviz_visual_tools.cpp.

geometry_msgs::Pose rviz_visual_tools::RvizVisualTools::convertPointToPose ( const geometry_msgs::Point & point )

Add an identity rotation matrix to make a point have a full pose.

Definition at line 2040 of file rviz_visual_tools.cpp.

Eigen::Affine3d rviz_visual_tools::RvizVisualTools::convertPointToPose ( const Eigen::Vector3d & point )

Definition at line 2050 of file rviz_visual_tools.cpp.

geometry_msgs::Pose rviz_visual_tools::RvizVisualTools::convertPose ( const Eigen::Affine3d & pose )

Convert an Eigen pose to a geometry_msg pose Note: Not thread safe but very convenient.

Parameters:

pose

Returns:: converted pose

Definition at line 2014 of file rviz_visual_tools.cpp.

Eigen::Affine3d rviz_visual_tools::RvizVisualTools::convertPose ( const geometry_msgs::Pose & pose )

Convert a geometry_msg pose to an Eigen pose Note: Not thread safe but very convenient.

Parameters:

pose

Returns:: converted pose

Definition at line 2025 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::convertPoseSafe	(	const Eigen::Affine3d &	pose,
		geometry_msgs::Pose &	pose_msg
	)		`[static]`

Convert an Eigen pose to a geometry_msg pose - thread safe.

Parameters:

input	pose
output	converted pose

Definition at line 2020 of file rviz_visual_tools.cpp.

geometry_msgs::Point rviz_visual_tools::RvizVisualTools::convertPoseToPoint ( const Eigen::Affine3d & pose )

Convert an Eigen pose to a geometry_msg point Note: Not thread safe but very convenient.

Parameters:

pose

Returns:: converted point with orientation discarded

Definition at line 2057 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::convertToXYZRPY	(	const Eigen::Affine3d &	pose,
		std::vector< double > &	xyzrpy
	)		`[static]`

Convert an affine3d to xyz rpy components R-P-Y / X-Y-Z / 0-1-2 Euler Angle Standard.

Parameters:

input	Eigen pose
output	vector of size 6 in order xyz rpy

Definition at line 2127 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::convertToXYZRPY	(	const Eigen::Affine3d &	pose,
		double &	x,
		double &	y,
		double &	z,
		double &	roll,
		double &	pitch,
		double &	yaw
	)		`[static]`

Definition at line 2133 of file rviz_visual_tools.cpp.

std_msgs::ColorRGBA rviz_visual_tools::RvizVisualTools::createRandColor ( )

Create a random color that is not too light.

Returns:: the RGB message of a random color

Definition at line 494 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::deleteAllMarkers ( )

Tell Rviz to clear all markers on a particular display. Note: only works on ROS Indigo and newer.

Definition at line 77 of file rviz_visual_tools.cpp.

double rviz_visual_tools::RvizVisualTools::dRand	(	double	min,
		double	max
	)		`[static]`

Get random between min and max.

Definition at line 2243 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::enableBatchPublishing ( bool enable = true )

Enable batch publishing - useful for when many markers need to be published at once and the ROS topic can get overloaded. This collects all published markers into array and only publishes them with triggerBatchPublish() is called.

Definition at line 700 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::enableInternalBatchPublishing ( bool enable ) [protected]

Allows certain marker functions to batch publish without breaking external functinality.

Definition at line 2267 of file rviz_visual_tools.cpp.

float rviz_visual_tools::RvizVisualTools::fRand	(	float	min,
		float	max
	)		`[static]`

Definition at line 2249 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::generateEmptyPose ( geometry_msgs::Pose & pose )

Create a pose of position (0,0,0) and quaternion (0,0,0,1)

Parameters:

Pose	to fill in

Definition at line 2214 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::generateRandomCuboid	(	geometry_msgs::Pose &	cuboid_pose,
		double &	depth,
		double &	width,
		double &	height,
		RandomPoseBounds	pose_bounds = `RandomPoseBounds()`,
		RandomCuboidBounds	cuboid_bounds = `RandomCuboidBounds()`
	)

Create a random rectangular cuboid of some shape.

Definition at line 2153 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::generateRandomPose	(	geometry_msgs::Pose &	pose,
		RandomPoseBounds	pose_bounds = `RandomPoseBounds()`
	)

Create a random pose within bounds of random_pose_bounds_.

Parameters:

Pose	to fill in options bounds on the pose to generate

Definition at line 2147 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::generateRandomPose	(	Eigen::Affine3d &	pose,
		RandomPoseBounds	pose_bounds = `RandomPoseBounds()`
	)

Definition at line 2166 of file rviz_visual_tools.cpp.

const std::string rviz_visual_tools::RvizVisualTools::getBaseFrame ( ) [inline]

Get the base frame.

Returns:: name of base frame

Definition at line 303 of file rviz_visual_tools.h.

Eigen::Vector3d rviz_visual_tools::RvizVisualTools::getCenterPoint	(	Eigen::Vector3d	a,
		Eigen::Vector3d	b
	)

Find the center between to points.

Parameters:

point	a - x,y,z in space of a point
point	b - x,y,z in space of a point

Returns:: center point

Definition at line 628 of file rviz_visual_tools.cpp.

std_msgs::ColorRGBA rviz_visual_tools::RvizVisualTools::getColor ( const colors & color )

Get the RGB value of standard colors.

Parameters:

color - an enum pre-defined name of a color

Returns:: the RGB message equivalent

Definition at line 363 of file rviz_visual_tools.cpp.

std_msgs::ColorRGBA rviz_visual_tools::RvizVisualTools::getColorScale ( double value )

Convert a value from [0,1] to a color Green->Red.

Returns:: interpolated color

Definition at line 529 of file rviz_visual_tools.cpp.

double rviz_visual_tools::RvizVisualTools::getGlobalScale ( ) [inline]

Getter for the global scale used for changing size of all markers.

Definition at line 321 of file rviz_visual_tools.h.

const bool& rviz_visual_tools::RvizVisualTools::getPsychedelicMode ( ) const [inline]

Getter for PsychedelicMode.

Definition at line 908 of file rviz_visual_tools.h.

colors rviz_visual_tools::RvizVisualTools::getRandColor ( )

Get a random color from the list of hardcoded enum color types.

Returns:: Random color from rviz_visual_tools::colors

Definition at line 339 of file rviz_visual_tools.cpp.

geometry_msgs::Vector3 rviz_visual_tools::RvizVisualTools::getScale	(	const scales &	scale,
		bool	arrow_scale = `false`,
		double	marker_scale = `1.0`
	)

Get the rviz marker scale of standard sizes.

Parameters:

scale	- an enum pre-defined name of a size
arrow_scale	- they do not have an even scaling, compensate
marker_scale	- amount to scale the scale for accounting for different types of markers

Returns:: vector of 3 scales

Definition at line 572 of file rviz_visual_tools.cpp.

Eigen::Affine3d rviz_visual_tools::RvizVisualTools::getVectorBetweenPoints	(	Eigen::Vector3d	a,
		Eigen::Vector3d	b
	)

Create a vector that points from point a to point b.

Parameters:

point	a - x,y,z in space of a point
point	b - x,y,z in space of a point

Returns:: vector from a to b

Definition at line 637 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::initialize ( ) [private]

Shared function for initilization by constructors.

Definition at line 68 of file rviz_visual_tools.cpp.

int rviz_visual_tools::RvizVisualTools::iRand	(	int	min,
		int	max
	)		`[static]`

Definition at line 2255 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::loadMarkerPub	(	bool	wait_for_subscriber = `false`,
		bool	latched = `false`
	)

Load publishers as needed.

Parameters:

wait_for_subscriber - whether a sleep for loop should be used to check for connectivity to an external node before proceeding

Definition at line 269 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::loadRvizMarkers ( )

Pre-load rviz markers for better efficiency.

Returns:: converted pose *; true on sucess

Definition at line 98 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::posesEqual	(	const Eigen::Affine3d &	pose1,
		const Eigen::Affine3d &	pose2,
		const double &	threshold = `0.000001`
	)

Test if two Eigen poses are close enough.

Parameters:

pose1
pose2
threshold	- how close in value they must be in order to be considered the same

Returns:: true if equal

Definition at line 2228 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::printTransform ( const Eigen::Affine3d & transform ) [static]

Display in the console a transform in quaternions.

Definition at line 2287 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::printTransformRPY ( const Eigen::Affine3d & transform ) [static]

Display in the console a transform in roll pitch yaw.

Definition at line 2295 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishArrow	(	const Eigen::Affine3d &	pose,
		const colors &	color = `BLUE`,
		const scales &	scale = `REGULAR`,
		double	length = `0.1`,
		const std::size_t &	id = `0`
	)

Display an arrow along the x-axis of a pose.

Parameters:

pose	- the location to publish the marker with respect to the base frame
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
length	- how long the arrow tail should be

Returns:: true on success

Definition at line 1119 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishArrow	(	const geometry_msgs::Pose &	pose,
		const colors &	color = `BLUE`,
		const scales &	scale = `REGULAR`,
		double	length = `0.1`,
		const std::size_t &	id = `0`
	)

Definition at line 1125 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishArrow	(	const geometry_msgs::PoseStamped &	pose,
		const colors &	color = `BLUE`,
		const scales &	scale = `REGULAR`,
		double	length = `0.1`,
		const std::size_t &	id = `0`
	)

Definition at line 1146 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishAxis	(	const geometry_msgs::Pose &	pose,
		double	length = `0.1`,
		double	radius = `0.01`,
		const std::string &	ns = `"Axis"`
	)

Display a marker of a axis.

Parameters:

pose	- the location to publish the marker with respect to the base frame
length	- geometry of cylinder
radius	- geometry of cylinder

Returns:: true on success

Definition at line 1210 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishAxis	(	const Eigen::Affine3d &	pose,
		double	length = `0.1`,
		double	radius = `0.01`,
		const std::string &	ns = `"Axis"`
	)

Definition at line 1215 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishAxisLabeled	(	const Eigen::Affine3d &	pose,
		const std::string &	label,
		const scales &	scale = `SMALL`,
		const colors &	color = `WHITE`
	)

Display a marker of a axis with a text label describing it.

Parameters:

pose	- the location to publish the marker with respect to the base frame
label	- name of axis/coordinate frame
scale	- size of axis
color	- an enum pre-defined name of a color

Returns:: true on success

Definition at line 1195 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishAxisLabeled	(	const geometry_msgs::Pose &	pose,
		const std::string &	label,
		const scales &	scale = `SMALL`,
		const colors &	color = `WHITE`
	)

Definition at line 1200 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishBlock	(	const geometry_msgs::Pose &	pose,
		const colors &	color = `BLUE`,
		const double &	block_size = `0.1`
	)

Display a marker of a block.

Parameters:

pose	- the location to publish the marker with respect to the base frame
color	- an enum pre-defined name of a color
size	- height=width=depth=size

Returns:: true on success DEPRECATED - use publishCuboid

Definition at line 1168 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishBlock	(	const Eigen::Affine3d &	pose,
		const colors &	color = `BLUE`,
		const double &	block_size = `0.1`
	)

Definition at line 1190 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCone	(	const Eigen::Affine3d &	pose,
		double	angle,
		const rviz_visual_tools::colors &	color = `TRANSLUCENT`,
		double	scale = `1.0`
	)

Display a cone of a given angle along the x-axis.

Parameters:

pose	- the location and orientation of the cone
color	- color of the cone
scale	- size of the cone

Returns:: true on success

Definition at line 761 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCone	(	const geometry_msgs::Pose &	pose,
		double	angle,
		const rviz_visual_tools::colors &	color = `TRANSLUCENT`,
		double	scale = `1.0`
	)

Definition at line 766 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCuboid	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		const colors &	color = `BLUE`
	)

Display a rectangular cuboid.

Parameters:

point1	- x,y,z top corner location of box
point2	- x,y,z bottom opposite corner location of box
color	- an enum pre-defined name of a color

Returns:: true on success

Definition at line 1376 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCuboid	(	const geometry_msgs::Point &	point1,
		const geometry_msgs::Point &	point2,
		const colors &	color = `BLUE`,
		const std::string &	ns = `"Cuboid"`,
		const std::size_t &	id = `0`
	)

Definition at line 1381 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCuboid	(	const geometry_msgs::Pose &	pose,
		const double	depth,
		const double	width,
		const double	height,
		const colors &	color = `BLUE`
	)

Display a rectangular cuboid.

Parameters:

pose	- pose of the box
depth	- depth of the box
width	- width of the box
height	- height of the box
color	- an enum pre-defined name of a color

Returns:: true on success

Definition at line 1425 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCuboid	(	const Eigen::Affine3d &	pose,
		const double	depth,
		const double	width,
		const double	height,
		const colors &	color = `BLUE`
	)

Definition at line 1419 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCylinder	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		const colors &	color = `BLUE`,
		double	radius = `0.01`,
		const std::string &	ns = `"Cylinder"`
	)

Display a marker of a cylinder.

Parameters:

point1	- starting side of cylinder
point2	- end side of cylinder
color	- an enum pre-defined name of a color
radius	- geometry of cylinder

Returns:: true on success

Definition at line 1241 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCylinder	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		const std_msgs::ColorRGBA &	color,
		double	radius = `0.01`,
		const std::string &	ns = `"Cylinder"`
	)

Definition at line 1247 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCylinder	(	const Eigen::Affine3d &	pose,
		const colors &	color = `BLUE`,
		double	height = `0.1`,
		double	radius = `0.01`,
		const std::string &	ns = `"Cylinder"`
	)

Display a marker of a cylinder.

Parameters:

pose	- the location to publish the marker with respect to the base frame
color	- an enum pre-defined name of a color
height	- geometry of cylinder
radius	- geometry of cylinder

Returns:: true on success

Definition at line 1269 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCylinder	(	const geometry_msgs::Pose &	pose,
		const colors &	color = `BLUE`,
		double	height = `0.1`,
		double	radius = `0.01`,
		const std::string &	ns = `"Cylinder"`
	)

Definition at line 1275 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCylinder	(	const geometry_msgs::Pose &	pose,
		const std_msgs::ColorRGBA &	color,
		double	height = `0.1`,
		double	radius = `0.01`,
		const std::string &	ns = `"Cylinder"`
	)

Definition at line 1281 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishGraph	(	const graph_msgs::GeometryGraph &	graph,
		const colors &	color,
		double	radius
	)

Display a graph.

Parameters:

graph	of nodes and edges
color	- an enum pre-defined name of a color
radius	- width of cylinders

Returns:: true on success

Definition at line 1344 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishLine	(	const Eigen::Affine3d &	point1,
		const Eigen::Affine3d &	point2,
		const colors &	color = `BLUE`,
		const scales &	scale = `REGULAR`
	)

Display a marker of line.

Parameters:

point1	- x,y,z of start of line
point2	- x,y,z of end of line
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size

Returns:: true on success

Definition at line 1454 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishLine	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		const colors &	color = `BLUE`,
		const scales &	scale = `REGULAR`
	)

Definition at line 1460 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishLine	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		const std_msgs::ColorRGBA &	color,
		const scales &	scale = `REGULAR`
	)

Definition at line 1466 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishLine	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		const std_msgs::ColorRGBA &	color,
		const double &	radius
	)

Definition at line 1472 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishLine	(	const geometry_msgs::Point &	point1,
		const geometry_msgs::Point &	point2,
		const colors &	color = `BLUE`,
		const scales &	scale = `REGULAR`
	)

Definition at line 1482 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishLine	(	const geometry_msgs::Point &	point1,
		const geometry_msgs::Point &	point2,
		const std_msgs::ColorRGBA &	color,
		const scales &	scale = `REGULAR`
	)

Definition at line 1488 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishLine	(	const geometry_msgs::Point &	point1,
		const geometry_msgs::Point &	point2,
		const std_msgs::ColorRGBA &	color,
		const geometry_msgs::Vector3 &	scale
	)

Definition at line 1494 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishMarker ( visualization_msgs::Marker & marker )

Display a visualization_msgs Marker of a custom type. Allows reuse of the ros publisher.

Parameters:

marker - a pre-made marker ready to be published

Returns:: true on success

Definition at line 686 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishMarkers ( visualization_msgs::MarkerArray & markers )

Display an array of markers, allows reuse of the ROS publisher.

Parameters:

markers

Returns:: true on success

Definition at line 719 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishMesh	(	const Eigen::Affine3d &	pose,
		const std::string &	file_name,
		const colors &	color = `CLEAR`,
		double	scale = `1`,
		const std::string &	ns = `"mesh"`,
		const std::size_t &	id = `0`
	)

Display a mesh from file.

Parameters:

pose	- the location to publish the marker with respect to the base frame
file	name of mesh, starting with "file://" e.g. "file:///home/user/mesh.stl"
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
ns	- namespace of marker
id	- unique counter of mesh that allows you to overwrite a previous mesh. if 0, defaults to incremental counter

Returns:: true on success

Definition at line 1304 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishMesh	(	const geometry_msgs::Pose &	pose,
		const std::string &	file_name,
		const colors &	color = `CLEAR`,
		double	scale = `1`,
		const std::string &	ns = `"mesh"`,
		const std::size_t &	id = `0`
	)

Definition at line 1310 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishPath	(	const std::vector< geometry_msgs::Point > &	path,
		const colors &	color = `RED`,
		const scales &	scale = `REGULAR`,
		const std::string &	ns = `"Path"`
	)

Display a marker of a series of connected lines.

Parameters:

path	- a series of points to connect with lines
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
ns	- namespace of marker

Returns:: true on success

Definition at line 1512 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishPath	(	const std::vector< Eigen::Vector3d > &	path,
		const colors &	color = `RED`,
		const double	radius = `0.01`,
		const std::string &	ns = `"Path"`
	)

Definition at line 1546 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishPolygon	(	const geometry_msgs::Polygon &	polygon,
		const colors &	color = `RED`,
		const scales &	scale = `REGULAR`,
		const std::string &	ns = `"Polygon"`
	)

Display a marker of a polygon.

Parameters:

polygon	- a series of points to connect with lines
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
ns	- namespace of marker

Returns:: true on success

Definition at line 1568 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const Eigen::Affine3d &	pose,
		const colors &	color = `BLUE`,
		const scales &	scale = `REGULAR`,
		const std::string &	ns = `"Sphere"`,
		const std::size_t &	id = `0`
	)

Display a marker of a sphere.

Parameters:

pose	- the location to publish the sphere with respect to the base frame
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
ns	- namespace of marker
id	- unique counter of mesh that allows you to overwrite a previous mesh. if 0, defaults to incremental counter

Returns:: true on success

Definition at line 944 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const Eigen::Vector3d &	point,
		const colors &	color = `BLUE`,
		const scales &	scale = `REGULAR`,
		const std::string &	ns = `"Sphere"`,
		const std::size_t &	id = `0`
	)

Definition at line 950 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const Eigen::Vector3d &	point,
		const colors &	color,
		const double	scale,
		const std::string &	ns = `"Sphere"`,
		const std::size_t &	id = `0`
	)

Definition at line 958 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const geometry_msgs::Point &	point,
		const colors &	color = `BLUE`,
		const scales &	scale = `REGULAR`,
		const std::string &	ns = `"Sphere"`,
		const std::size_t &	id = `0`
	)

Definition at line 966 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const geometry_msgs::Pose &	pose,
		const colors &	color = `BLUE`,
		const scales &	scale = `REGULAR`,
		const std::string &	ns = `"Sphere"`,
		const std::size_t &	id = `0`
	)

Definition at line 974 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const geometry_msgs::Pose &	pose,
		const colors &	color,
		const double	scale,
		const std::string &	ns = `"Sphere"`,
		const std::size_t &	id = `0`
	)

Definition at line 980 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const geometry_msgs::Pose &	pose,
		const colors &	color,
		const geometry_msgs::Vector3	scale,
		const std::string &	ns = `"Sphere"`,
		const std::size_t &	id = `0`
	)

Definition at line 990 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const geometry_msgs::Pose &	pose,
		const std_msgs::ColorRGBA &	color,
		const geometry_msgs::Vector3	scale,
		const std::string &	ns = `"Sphere"`,
		const std::size_t &	id = `0`
	)

Definition at line 1002 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const Eigen::Affine3d &	pose,
		const std_msgs::ColorRGBA &	color,
		const geometry_msgs::Vector3	scale,
		const std::string &	ns = `"Sphere"`,
		const std::size_t &	id = `0`
	)

Definition at line 996 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const geometry_msgs::PoseStamped &	pose,
		const colors &	color,
		const geometry_msgs::Vector3	scale,
		const std::string &	ns = `"Sphere"`,
		const std::size_t &	id = `0`
	)

Definition at line 1023 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSpheres	(	const std::vector< Eigen::Vector3d > &	points,
		const colors &	color = `BLUE`,
		const double	scale = `0.1`,
		const std::string &	ns = `"Spheres"`
	)

Display a marker of a series of spheres.

Parameters:

spheres	- where to publish them
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
ns	- namespace of marker

Returns:: true on success

Definition at line 1807 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSpheres	(	const std::vector< geometry_msgs::Point > &	points,
		const colors &	color = `BLUE`,
		const double	scale = `0.1`,
		const std::string &	ns = `"Spheres"`
	)

Definition at line 1822 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSpheres	(	const std::vector< geometry_msgs::Point > &	points,
		const colors &	color = `BLUE`,
		const scales &	scale = `REGULAR`,
		const std::string &	ns = `"Spheres"`
	)

Definition at line 1832 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSpheres	(	const std::vector< geometry_msgs::Point > &	points,
		const colors &	color,
		const geometry_msgs::Vector3 &	scale,
		const std::string &	ns = `"Spheres"`
	)

Definition at line 1838 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishTests ( )

Run a simple test of all visual_tool's features.

Returns:: true on success

Definition at line 1914 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishText	(	const Eigen::Affine3d &	pose,
		const std::string &	text,
		const colors &	color = `WHITE`,
		const scales &	scale = `REGULAR`,
		bool	static_id = `true`
	)

Display a marker of a text.

Parameters:

pose	- the location to publish the marker with respect to the base frame
text	- what message to display
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
static_id	- if true, only one text can be published at a time

Returns:: true on success

Definition at line 1865 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishText	(	const Eigen::Affine3d &	pose,
		const std::string &	text,
		const colors &	color,
		const geometry_msgs::Vector3	scale,
		bool	static_id = `true`
	)

Definition at line 1871 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishText	(	const geometry_msgs::Pose &	pose,
		const std::string &	text,
		const colors &	color = `WHITE`,
		const scales &	scale = `REGULAR`,
		bool	static_id = `true`
	)

Definition at line 1877 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishText	(	const geometry_msgs::Pose &	pose,
		const std::string &	text,
		const colors &	color,
		const geometry_msgs::Vector3	scale,
		bool	static_id = `true`
	)

Definition at line 1883 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishWireframeCuboid	(	const Eigen::Affine3d &	pose,
		double	depth,
		double	width,
		double	height,
		const rviz_visual_tools::colors &	color = `BLUE`,
		const std::string &	ns = `"Wireframe Cuboid"`,
		const std::size_t &	id = `0`
	)

Publish transformed wireframe cuboid. Useful eg to show an oriented bounding box.

Parameters:

pose	- cuboid vertices are transformed according to it
depth	- object depth
width	- object width
height	- object height
color	- an enum pre-defined name of a color
ns	- namespace
id	- unique counter of mesh that allows you to overwrite a previous mesh. if 0, defaults to incremental counter

Returns:: true on success

Definition at line 1590 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishWireframeCuboid	(	const Eigen::Affine3d &	pose,
		const Eigen::Vector3d &	min_point,
		const Eigen::Vector3d &	max_point,
		const rviz_visual_tools::colors &	color = `BLUE`,
		const std::string &	ns = `"Wireframe Cuboid"`,
		const std::size_t &	id = `0`
	)

Publish transformed wireframe cuboid. Useful eg to show an oriented bounding box.

Parameters:

pose	- cuboid vertices are transformed according to it
min_point	- minimum x, y, z coordinates
max_point	- maximum x, y, z coordinates
color	- an enum pre-defined name of a color
ns	- namespace
id	- unique counter of mesh that allows you to overwrite a previous mesh. if 0, defaults to incremental counter

Returns:: true on success

Definition at line 1599 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishWireframeRectangle	(	const Eigen::Affine3d &	pose,
		const double &	height,
		const double &	width,
		const colors &	color = `BLUE`,
		const scales &	scale = `REGULAR`
	)

Publish outline of a rectangle.

Parameters:

pose	- cuboid vertices are transformed according to it
height
width
color	- an enum pre-defined name of a color

Returns:: true on success

Definition at line 1702 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishWireframeRectangle	(	const Eigen::Affine3d &	pose,
		const Eigen::Vector3d &	p1,
		const Eigen::Vector3d &	p2,
		const Eigen::Vector3d &	p3,
		const Eigen::Vector3d &	p4,
		const colors &	color,
		const scales &	scale
	)

Definition at line 1754 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishXArrow	(	const Eigen::Affine3d &	pose,
		const colors &	color = `RED`,
		const scales &	scale = `REGULAR`,
		double	length = `0.1`
	)

Display an arrow along the x-axis of a pose.

Parameters:

pose	- the location to publish the marker with respect to the base frame
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
length	- the length of the arrow tail

Returns:: true on success

Definition at line 1046 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishXArrow	(	const geometry_msgs::Pose &	pose,
		const colors &	color = `RED`,
		const scales &	scale = `REGULAR`,
		double	length = `0.1`
	)

Definition at line 1052 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishXArrow	(	const geometry_msgs::PoseStamped &	pose,
		const colors &	color = `RED`,
		const scales &	scale = `REGULAR`,
		double	length = `0.1`
	)

Definition at line 1058 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishXYPlane	(	const Eigen::Affine3d &	pose,
		const rviz_visual_tools::colors &	color = `TRANSLUCENT`,
		double	scale = `1.0`
	)

Display the XY plane of a given pose.

Parameters:

pose	- the position of the plane
color	- the color of the plane
scale	- the size of the vizualized plane

Returns:: true on success

Definition at line 806 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishXYPlane	(	const geometry_msgs::Pose &	pose,
		const rviz_visual_tools::colors &	color = `TRANSLUCENT`,
		double	scale = `1.0`
	)

Definition at line 811 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishXZPlane	(	const Eigen::Affine3d &	pose,
		const rviz_visual_tools::colors &	color = `TRANSLUCENT`,
		double	scale = `1.0`
	)

Display the XY plane of a given pose.

Parameters:

pose	- the position of the plane
color	- the color of the plane
scale	- the size of the vizualized plane

Returns:: true on success

Definition at line 852 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishXZPlane	(	const geometry_msgs::Pose &	pose,
		const rviz_visual_tools::colors &	color = `TRANSLUCENT`,
		double	scale = `1.0`
	)

Definition at line 857 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishYArrow	(	const Eigen::Affine3d &	pose,
		const colors &	color = `GREEN`,
		const scales &	scale = `REGULAR`,
		double	length = `0.1`
	)

Display an arrow along the y-axis of a pose.

Parameters:

pose	- the location to publish the marker with respect to the base frame
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
length	- the length of the arrow tail

Returns:: true on success

Definition at line 1064 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishYArrow	(	const geometry_msgs::Pose &	pose,
		const colors &	color = `GREEN`,
		const scales &	scale = `REGULAR`,
		double	length = `0.1`
	)

Definition at line 1071 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishYArrow	(	const geometry_msgs::PoseStamped &	pose,
		const colors &	color = `GREEN`,
		const scales &	scale = `REGULAR`,
		double	length = `0.1`
	)

Definition at line 1078 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishYZPlane	(	const Eigen::Affine3d &	pose,
		const rviz_visual_tools::colors &	color = `TRANSLUCENT`,
		double	scale = `1.0`
	)

Display the XY plane of a given pose.

Parameters:

pose	- the position of the plane
color	- the color of the plane
scale	- the size of the vizualized plane

Returns:: true on success

Definition at line 898 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishYZPlane	(	const geometry_msgs::Pose &	pose,
		const rviz_visual_tools::colors &	color = `TRANSLUCENT`,
		double	scale = `1.0`
	)

Definition at line 903 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishZArrow	(	const Eigen::Affine3d &	pose,
		const colors &	color = `BLUE`,
		const scales &	scale = `REGULAR`,
		double	length = `0.1`,
		const std::size_t &	id = `0`
	)

Display an arrow along the z-axis of a pose.

Parameters:

pose	- the location to publish the marker with respect to the base frame
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
length	- the length of the arrow tail

Returns:: true on success

Definition at line 1087 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishZArrow	(	const geometry_msgs::Pose &	pose,
		const colors &	color = `BLUE`,
		const scales &	scale = `REGULAR`,
		double	length = `0.1`
	)

Definition at line 1094 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishZArrow	(	const geometry_msgs::PoseStamped &	pose,
		const colors &	color = `BLUE`,
		const scales &	scale = `REGULAR`,
		double	length = `0.1`
	)

Definition at line 1101 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishZArrow	(	const geometry_msgs::PoseStamped &	pose,
		const colors &	color = `BLUE`,
		const scales &	scale = `REGULAR`,
		double	length = `0.1`,
		const std::size_t &	id = `0`
	)

Definition at line 1110 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::resetMarkerCounts ( )

Reset the id's of all published markers so that they overwrite themselves in the future NOTE you may prefer deleteAllMarkers()

Definition at line 83 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::setAlpha ( double alpha ) [inline]

Change the transparency of all markers published.

Parameters:

alpha - value 0 - 1 where 0 is invisible

Definition at line 233 of file rviz_visual_tools.h.

void rviz_visual_tools::RvizVisualTools::setBaseFrame ( const std::string & base_frame ) [inline]

Change the global base frame Note: this might reset all your current markers.

Parameters:

name of frame

Definition at line 312 of file rviz_visual_tools.h.

void rviz_visual_tools::RvizVisualTools::setFloorToBaseHeight ( double floor_to_base_height )

Allows an offset between base link and floor where objects are built. Default is zero.

Parameters:

floor_to_base_height - the offset

Definition at line 319 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::setGlobalScale ( double global_scale ) [inline]

Setter for the global scale used for changing size of all markers.

Definition at line 328 of file rviz_visual_tools.h.

void rviz_visual_tools::RvizVisualTools::setLifetime ( double lifetime )

Set the lifetime of markers published to rviz.

Parameters:

lifetime seconds of how long to show markers. 0 for inifinity

Definition at line 324 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::setMarkerTopic ( const std::string & topic ) [inline]

Set marker array topic.

Definition at line 203 of file rviz_visual_tools.h.

void rviz_visual_tools::RvizVisualTools::setPsychedelicMode ( const bool & psychedelic_mode = true ) [inline]

Setter for PsychedelicMode.

Definition at line 914 of file rviz_visual_tools.h.

double rviz_visual_tools::RvizVisualTools::slerp	(	double	start,
		double	end,
		double	range,
		double	value
	)

Interpolate from [start, end] with value of size steps with current value count.

Returns:: interpolated value

Definition at line 523 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::triggerBatchPublish ( )

Trigger the publish function to send out all collected markers.

Returns:: true on success

Definition at line 705 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::triggerBatchPublishAndDisable ( )

Trigger the publish function to send out all collected markers. Also then turns off the batch mode. This is safer incase programmer forgets.

Returns:: true on success

Definition at line 713 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::triggerInternalBatchPublishAndDisable ( ) [protected]

Trigger the publish function to send out all collected markers. Also then turns off the batch mode. This is safer incase programmer forgets. This is the internal version.

Returns:: true on success

Definition at line 2277 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::waitForSubscriber	(	const ros::Publisher &	pub,
		const double &	wait_time = `0.5`
	)

Wait until at least one subscriber connects to a publisher.

Parameters:

pub	- the publisher to check for subsribers
wait_time	- time to wait for subscriber to be available before throwing warning

Returns:: true on successful connection

Definition at line 282 of file rviz_visual_tools.cpp.

Member Data Documentation

double rviz_visual_tools::RvizVisualTools::alpha_ [protected]

Definition at line 955 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::arrow_marker_ [protected]

Definition at line 962 of file rviz_visual_tools.h.

std::string rviz_visual_tools::RvizVisualTools::base_frame_ [protected]

Definition at line 946 of file rviz_visual_tools.h.

bool rviz_visual_tools::RvizVisualTools::batch_publishing_enabled_ [protected]

Definition at line 952 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::block_marker_ [protected]

Definition at line 964 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::cuboid_marker_ [protected]

Definition at line 968 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::cylinder_marker_ [protected]

Definition at line 965 of file rviz_visual_tools.h.

double rviz_visual_tools::RvizVisualTools::global_scale_ [protected]

Definition at line 956 of file rviz_visual_tools.h.

bool rviz_visual_tools::RvizVisualTools::internal_batch_publishing_enabled_ [protected]

Definition at line 953 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::line_list_marker_ [protected]

Definition at line 970 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::line_strip_marker_ [protected]

Definition at line 969 of file rviz_visual_tools.h.

ros::Duration rviz_visual_tools::RvizVisualTools::marker_lifetime_ [protected]

Definition at line 949 of file rviz_visual_tools.h.

std::string rviz_visual_tools::RvizVisualTools::marker_topic_ [protected]

Definition at line 945 of file rviz_visual_tools.h.

visualization_msgs::MarkerArray rviz_visual_tools::RvizVisualTools::markers_ [protected]

Definition at line 959 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::mesh_marker_ [protected]

Definition at line 966 of file rviz_visual_tools.h.

std::string rviz_visual_tools::RvizVisualTools::name_ [protected]

Definition at line 937 of file rviz_visual_tools.h.

ros::NodeHandle rviz_visual_tools::RvizVisualTools::nh_ [protected]

Definition at line 934 of file rviz_visual_tools.h.

bool rviz_visual_tools::RvizVisualTools::psychedelic_mode_ [protected]

Definition at line 983 of file rviz_visual_tools.h.

ros::Publisher rviz_visual_tools::RvizVisualTools::pub_rviz_markers_ [protected]

Definition at line 940 of file rviz_visual_tools.h.

bool rviz_visual_tools::RvizVisualTools::pub_rviz_markers_connected_ [protected]

Definition at line 941 of file rviz_visual_tools.h.

bool rviz_visual_tools::RvizVisualTools::pub_rviz_markers_waited_ [protected]

Definition at line 942 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::reset_marker_ [protected]

Definition at line 972 of file rviz_visual_tools.h.

geometry_msgs::Point32 rviz_visual_tools::RvizVisualTools::shared_point32_msg_ [protected]

Definition at line 978 of file rviz_visual_tools.h.

Eigen::Vector3d rviz_visual_tools::RvizVisualTools::shared_point_eigen_ [protected]

Definition at line 980 of file rviz_visual_tools.h.

geometry_msgs::Point rviz_visual_tools::RvizVisualTools::shared_point_msg_ [protected]

Definition at line 977 of file rviz_visual_tools.h.

Eigen::Affine3d rviz_visual_tools::RvizVisualTools::shared_pose_eigen_ [protected]

Definition at line 979 of file rviz_visual_tools.h.

geometry_msgs::Pose rviz_visual_tools::RvizVisualTools::shared_pose_msg_ [protected]

Definition at line 976 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::sphere_marker_ [protected]

Definition at line 963 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::spheres_marker_ [protected]

Definition at line 971 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::text_marker_ [protected]

Definition at line 967 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::triangle_marker_ [protected]

Definition at line 973 of file rviz_visual_tools.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation