Class CovarianceVisual

Class Documentation

class CovarianceVisual

CovarianceVisual consisting in a ellipse for position and 2D ellipses along the axis for orientation.

Public Types

enum ShapeIndex

Values:

enumerator kRoll
enumerator kPitch
enumerator kYaw
enumerator kYaw2D
enumerator kNumOrientationShapes

Public Functions

RVIZ_RENDERING_PUBLIC CovarianceVisual(Ogre::SceneManager *scene_manager, Ogre::SceneNode *parent_node, bool is_local_rotation = false, bool is_visible = true, float pos_scale = 1.0f, float ori_scale = 0.1f, float ori_offset = 0.1f)

Constructor - to be used in conjunction with covariance property.

Parameters:

  • scene_manager – The scene manager to use to construct any necessary objects

  • parent_object – A rviz object that this covariance will be attached.

  • is_local_rotation – Initial attachment of the rotation part

  • is_visible – Initial visibility

  • pos_scale – Scale of the position covariance

  • ori_scale – Scale of the orientation covariance

virtual RVIZ_RENDERING_PUBLIC ~CovarianceVisual()
RVIZ_RENDERING_PUBLIC void updateUserData (CovarianceUserData user_data)
virtual RVIZ_RENDERING_PUBLIC void setCovariance (const Ogre::Quaternion &pose_orientation, const std::array< double, 36 > &covariances)

Set the covariance.

This effectively changes the orientation and scale of position and orientation covariance shapes

RVIZ_RENDERING_PUBLIC void setPosition (const Ogre::Vector3 &position)

Sets position of the frame this covariance is attached.

RVIZ_RENDERING_PUBLIC void setOrientation (const Ogre::Quaternion &orientation)

Sets orientation of the frame this covariance is attached.

virtual RVIZ_RENDERING_PUBLIC void setVisible (bool visible)

Sets visibility of this covariance.

Convenience method that sets visibility of both position and orientation parts.

inline RVIZ_RENDERING_PUBLIC Ogre::SceneNode * getPositionSceneNode ()

Get the root scene node of the position part of this covariance.

Returns:

the root scene node of the position part of this covariance

inline RVIZ_RENDERING_PUBLIC Ogre::SceneNode * getOrientationSceneNode ()

Get the root scene node of the orientation part of this covariance.

Returns:

the root scene node of the orientation part of this covariance

RVIZ_RENDERING_PUBLIC Ogre::AxisAlignedBox getPositionBoundingBox ()
RVIZ_RENDERING_PUBLIC std::vector< Ogre::AxisAlignedBox > getOrientationBoundingBoxes ()