xpp::RvizRobotBuilder Class Reference

Constructs RVIZ markers that visualize a Cartesian robot state. More...

#include <rviz_robot_builder.h>

List of all members.

Public Member Functions
MarkerArray	BuildRobotState (const xpp_msgs::RobotStateCartesian &msg) const
	Constructs the RVIZ markers from the ROS message.
	RvizRobotBuilder ()
	Builds an uninitialized visualizer.
void	SetRobotParameters (const xpp_msgs::RobotParameters &msg)
	Provides additional robot info that can be used for visualization.
void	SetTerrainParameters (const xpp_msgs::TerrainInfo &msg)
	Additional information that can be used for visualization.
virtual	~RvizRobotBuilder ()
Private Member Functions
Marker	CreateBasePose (const Vector3d &pos, Eigen::Quaterniond ori, const ContactState &c) const
Marker	CreateBox (const Vector3d &pos, Eigen::Quaterniond ori, const Vector3d &edge_length) const
Marker	CreateCopPos (const EEForces &f_W, const EEPos &pos_W) const
MarkerVec	CreateEEForces (const EEForces &f_W, const EEPos &pos_W, const ContactState &c) const
MarkerVec	CreateEEPositions (const EEPos &pos_W, const ContactState &c) const
Marker	CreateForceArrow (const Vector3d &f, const Vector3d &pos) const
Marker	CreateFrictionCone (const Vector3d &pos_W, const Vector3d &terrain_normal, double friction_coeff) const
MarkerVec	CreateFrictionCones (const EEPos &pos_W, const ContactState &c) const
Marker	CreateGravityForce (const Vector3d &base_pos) const
Marker	CreatePendulum (const Vector3d &base_pos, const EEForces &f_W, const EEPos &pos_W) const
MarkerVec	CreateRangeOfMotion (const State3d &base) const
Marker	CreateSphere (const Vector3d &pos, double diameter=0.03) const
MarkerVec	CreateSupportArea (const ContactState &c, const EEPos &pos_W) const
void	FillWithInvisible (int max_size, MarkerVec &vec) const
Private Attributes
const std::string	frame_id_ = "world"
xpp_msgs::RobotParameters	params_msg_
xpp_msgs::TerrainInfo	terrain_msg_
Static Private Attributes
static const int	max_ee_ = 10

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Detailed Description

Constructs RVIZ markers that visualize a Cartesian robot state.

This class is responsible for converting robot states into beautiful RVIZ markers. The visualize quantities such as 6D base state, endeffector positions, contact state of these, endeffector forces, support areas and center of pressure.

Definition at line 56 of file rviz_robot_builder.h.

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Constructor & Destructor Documentation

xpp::RvizRobotBuilder::RvizRobotBuilder

(

)

Builds an uninitialized visualizer.

Definition at line 37 of file rviz_robot_builder.cc.

virtual xpp::RvizRobotBuilder::~RvizRobotBuilder

(

)

[virtual]

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Member Function Documentation

RvizRobotBuilder::MarkerArray xpp::RvizRobotBuilder::BuildRobotState

(

const xpp_msgs::RobotStateCartesian &

msg

)

const

Constructs the RVIZ markers from the ROS message.

Parameters:

msg	The ROS message describing the Cartesian robot state.

Returns:

The array of RVIZ markers to be published.

Definition at line 63 of file rviz_robot_builder.cc.

RvizRobotBuilder::Marker xpp::RvizRobotBuilder::CreateBasePose	(	const Vector3d &	pos,
		Eigen::Quaterniond	ori,
		const ContactState &	c
	)		const [private]

Definition at line 216 of file rviz_robot_builder.cc.

RvizRobotBuilder::Marker xpp::RvizRobotBuilder::CreateBox	(	const Vector3d &	pos,
		Eigen::Quaterniond	ori,
		const Vector3d &	edge_length
	)		const [private]

Definition at line 311 of file rviz_robot_builder.cc.

RvizRobotBuilder::Marker xpp::RvizRobotBuilder::CreateCopPos	(	const EEForces &	f_W,
		const EEPos &	pos_W
	)		const [private]

Definition at line 235 of file rviz_robot_builder.cc.

RvizRobotBuilder::MarkerVec xpp::RvizRobotBuilder::CreateEEForces	(	const EEForces &	f_W,
		const EEPos &	pos_W,
		const ContactState &	c
	)		const [private]

Definition at line 142 of file rviz_robot_builder.cc.

RvizRobotBuilder::MarkerVec xpp::RvizRobotBuilder::CreateEEPositions	(	const EEPos &	pos_W,
		const ContactState &	c
	)		const [private]

Definition at line 113 of file rviz_robot_builder.cc.

RvizRobotBuilder::Marker xpp::RvizRobotBuilder::CreateForceArrow	(	const Vector3d &	f,
		const Vector3d &	pos
	)		const [private]

Definition at line 339 of file rviz_robot_builder.cc.

RvizRobotBuilder::Marker xpp::RvizRobotBuilder::CreateFrictionCone	(	const Vector3d &	pos_W,
		const Vector3d &	terrain_normal,
		double	friction_coeff
	)		const [private]

Definition at line 192 of file rviz_robot_builder.cc.

RvizRobotBuilder::MarkerVec xpp::RvizRobotBuilder::CreateFrictionCones	(	const EEPos &	pos_W,
		const ContactState &	c
	)		const [private]

Definition at line 163 of file rviz_robot_builder.cc.

RvizRobotBuilder::Marker xpp::RvizRobotBuilder::CreateGravityForce

(

const Vector3d &

base_pos

)

const [private]

Definition at line 130 of file rviz_robot_builder.cc.

RvizRobotBuilder::Marker xpp::RvizRobotBuilder::CreatePendulum	(	const Vector3d &	base_pos,
		const EEForces &	f_W,
		const EEPos &	pos_W
	)		const [private]

Definition at line 262 of file rviz_robot_builder.cc.

RvizRobotBuilder::MarkerVec xpp::RvizRobotBuilder::CreateRangeOfMotion

(

const State3d &

base

)

const [private]

Definition at line 290 of file rviz_robot_builder.cc.

RvizRobotBuilder::Marker xpp::RvizRobotBuilder::CreateSphere	(	const Vector3d &	pos,
		double	diameter = 0.03
	)		const [private]

Definition at line 325 of file rviz_robot_builder.cc.

RvizRobotBuilder::MarkerVec xpp::RvizRobotBuilder::CreateSupportArea	(	const ContactState &	c,
		const EEPos &	pos_W
	)		const [private]

Definition at line 361 of file rviz_robot_builder.cc.

void xpp::RvizRobotBuilder::FillWithInvisible	(	int	max_size,
		MarkerVec &	vec
	)		const [private]

Makes sure no artifacts remain from previous visualization.

Parameters:

max_size	Number of marker for this rviz vector, should be constant.
vec	The vector of rviz markers.

Definition at line 55 of file rviz_robot_builder.cc.

void xpp::RvizRobotBuilder::SetRobotParameters

(

const xpp_msgs::RobotParameters &

msg

)

Provides additional robot info that can be used for visualization.

Parameters:

msg	The ROS message.

This additional information includes such values as the robots mass (for gravity force visualization), the robots nominal endeffector configuration, etc (see OptParameters).

Definition at line 43 of file rviz_robot_builder.cc.

void xpp::RvizRobotBuilder::SetTerrainParameters

(

const xpp_msgs::TerrainInfo &

msg

)

Additional information that can be used for visualization.

Parameters:

msg	The ROS message.

This information is related to the terrain, such as the current terrain normals at the endeffectors and friction coefficient (for friction cone visualization).

Definition at line 49 of file rviz_robot_builder.cc.

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Member Data Documentation

const std::string xpp::RvizRobotBuilder::frame_id_ = "world" [private]

Definition at line 140 of file rviz_robot_builder.h.

const int xpp::RvizRobotBuilder::max_ee_ = 10 [static, private]

Definition at line 148 of file rviz_robot_builder.h.

xpp_msgs::RobotParameters xpp::RvizRobotBuilder::params_msg_ [private]

Definition at line 137 of file rviz_robot_builder.h.

xpp_msgs::TerrainInfo xpp::RvizRobotBuilder::terrain_msg_ [private]

Definition at line 138 of file rviz_robot_builder.h.

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

• rviz_robot_builder.h
• rviz_robot_builder.cc