Update the links of an rviz::Robot using a robot_state::RobotState. More...

Public Member Functions
void	clear ()

rviz::Robot &	getRobot ()

void	load (const urdf::ModelInterface &descr, bool visual=true, bool collision=true)

	RobotStateVisualization (Ogre::SceneNode root_node, rviz::DisplayContext context, const std::string &name, rviz::Property *parent_property)

void	setAlpha (float alpha)

void	setCollisionVisible (bool visible)
	Set whether the collision meshes/primitives of the robot should be visible. More...

void	setDefaultAttachedObjectColor (const std_msgs::ColorRGBA &default_attached_object_color)

void	setVisible (bool visible)
	Set the robot as a whole to be visible or not. More...

void	setVisualVisible (bool visible)
	Set whether the visual meshes of the robot should be visible. More...

void	update (const robot_state::RobotStateConstPtr &kinematic_state)

void	update (const robot_state::RobotStateConstPtr &kinematic_state, const std_msgs::ColorRGBA &default_attached_object_color)

void	update (const robot_state::RobotStateConstPtr &kinematic_state, const std_msgs::ColorRGBA &default_attached_object_color, const std::map< std::string, std_msgs::ColorRGBA > &color_map)

Private Member Functions
void	updateHelper (const robot_state::RobotStateConstPtr &kinematic_state, const std_msgs::ColorRGBA &default_attached_object_color, const std::map< std::string, std_msgs::ColorRGBA > *color_map)

Private Attributes
bool	collision_visible_

std_msgs::ColorRGBA	default_attached_object_color_

OctreeVoxelColorMode	octree_voxel_color_mode_

OctreeVoxelRenderMode	octree_voxel_render_mode_

RenderShapesPtr	render_shapes_

rviz::Robot	robot_

bool	visible_

bool	visual_visible_

Detailed Description

Update the links of an rviz::Robot using a robot_state::RobotState.

Constructor & Destructor Documentation

moveit_rviz_plugin::RobotStateVisualization::RobotStateVisualization	(	Ogre::SceneNode *	root_node,
		rviz::DisplayContext *	context,
		const std::string &	name,
		rviz::Property *	parent_property
	)

void moveit_rviz_plugin::RobotStateVisualization::clear ( void )

rviz::Robot& moveit_rviz_plugin::RobotStateVisualization::getRobot ( )

inline

void moveit_rviz_plugin::RobotStateVisualization::load	(	const urdf::ModelInterface &	descr,
		bool	visual = `true`,
		bool	collision = `true`
	)

void moveit_rviz_plugin::RobotStateVisualization::setAlpha ( float alpha )

void moveit_rviz_plugin::RobotStateVisualization::setCollisionVisible ( bool visible )

Set whether the collision meshes/primitives of the robot should be visible.

Parameters

visible Whether the collision meshes/primitives should be visible

void moveit_rviz_plugin::RobotStateVisualization::setDefaultAttachedObjectColor ( const std_msgs::ColorRGBA & default_attached_object_color )

void moveit_rviz_plugin::RobotStateVisualization::setVisible ( bool visible )

Set the robot as a whole to be visible or not.

Parameters

visible Should we be visible?

void moveit_rviz_plugin::RobotStateVisualization::setVisualVisible ( bool visible )

Set whether the visual meshes of the robot should be visible.

Parameters

visible Whether the visual meshes of the robot should be visible

void moveit_rviz_plugin::RobotStateVisualization::update ( const robot_state::RobotStateConstPtr & kinematic_state )

void moveit_rviz_plugin::RobotStateVisualization::update	(	const robot_state::RobotStateConstPtr &	kinematic_state,
		const std_msgs::ColorRGBA &	default_attached_object_color
	)

void moveit_rviz_plugin::RobotStateVisualization::update	(	const robot_state::RobotStateConstPtr &	kinematic_state,
		const std_msgs::ColorRGBA &	default_attached_object_color,
		const std::map< std::string, std_msgs::ColorRGBA > &	color_map
	)

void moveit_rviz_plugin::RobotStateVisualization::updateHelper	(	const robot_state::RobotStateConstPtr &	kinematic_state,
		const std_msgs::ColorRGBA &	default_attached_object_color,
		const std::map< std::string, std_msgs::ColorRGBA > *	color_map
	)