#include <GridMapVisual.hpp>

Public Types
using	ColorArray = Eigen::Array< Ogre::ColourValue, Eigen::Dynamic, Eigen::Dynamic >

using	MaskArray = Eigen::Array< bool, Eigen::Dynamic, Eigen::Dynamic >

Public Member Functions
void	computeVisualization (float alpha, bool showGridLines, bool flatTerrain, std::string heightLayer, bool flatColor, bool noColor, Ogre::ColourValue meshColor, bool mapLayerColor, std::string colorLayer, bool useRainbow, bool invertRainbow, Ogre::ColourValue minColor, Ogre::ColourValue maxColor, bool autocomputeIntensity, float minIntensity, float maxIntensity)

std::vector< std::string >	getLayerNames ()

	GridMapVisual (Ogre::SceneManager sceneManager, Ogre::SceneNode parentNode)

void	setFrameOrientation (const Ogre::Quaternion &orientation)

void	setFramePosition (const Ogre::Vector3 &position)

void	setMessage (const grid_map_msgs::GridMap::ConstPtr &msg)

virtual	~GridMapVisual ()

Private Types
enum	ColoringMethod { ColoringMethod::FLAT, ColoringMethod::COLOR_LAYER, ColoringMethod::INTENSITY_LAYER_MANUAL, ColoringMethod::INTENSITY_LAYER_RAINBOW, ColoringMethod::INTENSITY_LAYER_INVERTED_RAINBOW }

Private Member Functions
ColorArray	computeColorValues (Eigen::Ref< const grid_map::Matrix > heightData, Eigen::Ref< const grid_map::Matrix > colorData, GridMapVisual::ColoringMethod coloringMethod, Ogre::ColourValue flatColor, double minIntensity, double maxIntensity, bool autocomputeIntensity, Ogre::ColourValue minColor, Ogre::ColourValue maxColor)

MaskArray	computeIsValidMask (std::vector< std::string > basicLayers)

Ogre::ColourValue	getInterpolatedColor (float intensity, Ogre::ColourValue minColor, Ogre::ColourValue maxColor)

void	initializeAndBeginManualObject (size_t nVertices)

void	initializeMeshLines (size_t cols, size_t rows, double resolution, double alpha)

Static Private Member Functions
static Ogre::ColourValue	getRainbowColor (float intensity)

static void	normalizeIntensity (float &intensity, float minIntensity, float maxIntensity)

Private Attributes
Ogre::SceneNode *	frameNode_

bool	haveMap_

Ogre::ManualObject *	manualObject_

grid_map::GridMap	map_

Ogre::MaterialPtr	material_

std::string	materialName_

boost::shared_ptr< rviz::BillboardLine >	meshLines_

Ogre::SceneManager *	sceneManager_

Detailed Description

Definition at line 31 of file GridMapVisual.hpp.

Member Typedef Documentation

using grid_map_rviz_plugin::GridMapVisual::ColorArray = Eigen::Array<Ogre::ColourValue, Eigen::Dynamic, Eigen::Dynamic>

Definition at line 34 of file GridMapVisual.hpp.

using grid_map_rviz_plugin::GridMapVisual::MaskArray = Eigen::Array<bool, Eigen::Dynamic, Eigen::Dynamic>

Definition at line 33 of file GridMapVisual.hpp.

Member Enumeration Documentation

enum grid_map_rviz_plugin::GridMapVisual::ColoringMethod

strongprivate

Enumerator
FLAT
COLOR_LAYER
INTENSITY_LAYER_MANUAL
INTENSITY_LAYER_RAINBOW
INTENSITY_LAYER_INVERTED_RAINBOW

Definition at line 56 of file GridMapVisual.hpp.

Constructor & Destructor Documentation

grid_map_rviz_plugin::GridMapVisual::GridMapVisual	(	Ogre::SceneManager *	sceneManager,
		Ogre::SceneNode *	parentNode
	)

Definition at line 27 of file GridMapVisual.cpp.

grid_map_rviz_plugin::GridMapVisual::~GridMapVisual ( )

virtual

Definition at line 35 of file GridMapVisual.cpp.

Member Function Documentation

GridMapVisual::ColorArray grid_map_rviz_plugin::GridMapVisual::computeColorValues	(	Eigen::Ref< const grid_map::Matrix >	heightData,
		Eigen::Ref< const grid_map::Matrix >	colorData,
		GridMapVisual::ColoringMethod	coloringMethod,
		Ogre::ColourValue	flatColor,
		double	minIntensity,
		double	maxIntensity,
		bool	autocomputeIntensity,
		Ogre::ColourValue	minColor,
		Ogre::ColourValue	maxColor
	)

private

Computes a matrix of color values corresponding to the grid cells. Color is computed depending on the coloringMethod.

Parameters

heightData	Height values of the cells.
colorData	Values of the layer specified for coloring the mesh.
coloringMethod	The strategy to color, see ColoringMethod.
flatColor	Used only if coloringMethod is FLAT
minIntensity	Used for the intensity based coloring methods only.
maxIntensity	Used for the intensity based coloring methods only.
autocomputeIntensity	Wheter to override the values in min and max intensity and compute them based on the provided intensity data.
minColor	Used only if coloringMethod is COLOR_LAYER.
maxColor	Used only if coloringMethod is COLOR_LAYER.

Returns: The color for each cell.

Definition at line 255 of file GridMapVisual.cpp.

GridMapVisual::MaskArray grid_map_rviz_plugin::GridMapVisual::computeIsValidMask ( std::vector< std::string > basicLayers )

private

Computes a mask where all the provided basicLayers are finite. Used to do fast lockups during mesh creation.

Parameters

basicLayers The values to check, if they are finite.

Returns: A boolean mask. True indicates that all layers are finite, false indicates that at least one layer is NAN.

Definition at line 308 of file GridMapVisual.cpp.

void grid_map_rviz_plugin::GridMapVisual::computeVisualization	(	float	alpha,
		bool	showGridLines,
		bool	flatTerrain,
		std::string	heightLayer,
		bool	flatColor,
		bool	noColor,
		Ogre::ColourValue	meshColor,
		bool	mapLayerColor,
		std::string	colorLayer,
		bool	useRainbow,
		bool	invertRainbow,
		Ogre::ColourValue	minColor,
		Ogre::ColourValue	maxColor,
		bool	autocomputeIntensity,
		float	minIntensity,
		float	maxIntensity
	)

Definition at line 51 of file GridMapVisual.cpp.

Ogre::ColourValue grid_map_rviz_plugin::GridMapVisual::getInterpolatedColor	(	float	intensity,
		Ogre::ColourValue	minColor,
		Ogre::ColourValue	maxColor
	)

private

Returns a linearly interpolated color between min and max Color with the weighting [0,1] specified by intensity.

Parameters

intensity	The weighting for interpolation, 0 means minColor, 1 means maxColor.
minColor	The lower color for interpolation.
maxColor	The upper color for interpolation.

Returns

Definition at line 360 of file GridMapVisual.cpp.

std::vector< std::string > grid_map_rviz_plugin::GridMapVisual::getLayerNames ( )

Definition at line 324 of file GridMapVisual.cpp.

Ogre::ColourValue grid_map_rviz_plugin::GridMapVisual::getRainbowColor ( float intensity )

staticprivate

Copied from rviz/src/rviz/default_plugin/point_cloud_transformers.cpp. Transforms an intensity value in [0,1] range to a rainbow coloring.

Parameters

intensity Value to color, should be in [0,1] range, otherwise it is clipped.

Returns: The corresponding rainbow color.

Definition at line 334 of file GridMapVisual.cpp.

void grid_map_rviz_plugin::GridMapVisual::initializeAndBeginManualObject ( size_t nVertices )

private

Initialized the manualObject if not already initialized and clears all previously added data.

Parameters

nVertices An estimate on the number of vertices to be added.

Definition at line 233 of file GridMapVisual.cpp.

void grid_map_rviz_plugin::GridMapVisual::initializeMeshLines	(	size_t	cols,
		size_t	rows,
		double	resolution,
		double	alpha
	)

private

Initialized the meshLines_ object. Should be called before adding lines. Sets the drawing style and allocates the buffer.

Parameters

cols	Number of columns that will be drawn.
rows	Number of rows that will be drawn.
resolution	Resolution of the map. Used to compute the line thickness.
alpha	Line opacity.

Definition at line 299 of file GridMapVisual.cpp.

void grid_map_rviz_plugin::GridMapVisual::normalizeIntensity	(	float &	intensity,
		float	minIntensity,
		float	maxIntensity
	)

staticprivate

Transforms the intensity into [0,1] range where 0 corresponds to the minIntensity and 1 to maxIntensity. The given value is clipped to that range.

Parameters

intensity	The intensity value to normalize.
minIntensity	Lower bound.
maxIntensity	Upper bound.

Definition at line 328 of file GridMapVisual.cpp.

void grid_map_rviz_plugin::GridMapVisual::setFrameOrientation ( const Ogre::Quaternion & orientation )

Definition at line 320 of file GridMapVisual.cpp.

void grid_map_rviz_plugin::GridMapVisual::setFramePosition ( const Ogre::Vector3 & position )

Definition at line 316 of file GridMapVisual.cpp.

void grid_map_rviz_plugin::GridMapVisual::setMessage ( const grid_map_msgs::GridMap::ConstPtr & msg )

Definition at line 45 of file GridMapVisual.cpp.

Member Data Documentation

Ogre::SceneNode* grid_map_rviz_plugin::GridMapVisual::frameNode_

private

Definition at line 58 of file GridMapVisual.hpp.

bool grid_map_rviz_plugin::GridMapVisual::haveMap_

private

Definition at line 73 of file GridMapVisual.hpp.

Ogre::ManualObject* grid_map_rviz_plugin::GridMapVisual::manualObject_

private

Definition at line 62 of file GridMapVisual.hpp.

grid_map::GridMap grid_map_rviz_plugin::GridMapVisual::map_

private

Definition at line 70 of file GridMapVisual.hpp.

Ogre::MaterialPtr grid_map_rviz_plugin::GridMapVisual::material_

private

Definition at line 63 of file GridMapVisual.hpp.

std::string grid_map_rviz_plugin::GridMapVisual::materialName_

private

Definition at line 64 of file GridMapVisual.hpp.

boost::shared_ptr<rviz::BillboardLine> grid_map_rviz_plugin::GridMapVisual::meshLines_

private

Definition at line 67 of file GridMapVisual.hpp.

Ogre::SceneManager* grid_map_rviz_plugin::GridMapVisual::sceneManager_

private

Definition at line 59 of file GridMapVisual.hpp.

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

Public Types

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation