robot_state_visualization.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_ROBOT_STATE_VISUALIZATION_
38 #define MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_ROBOT_STATE_VISUALIZATION_
39 
43 #include <rviz/robot/robot.h>
44 
45 namespace moveit_rviz_plugin
46 {
47 MOVEIT_CLASS_FORWARD(RenderShapes);
48 MOVEIT_CLASS_FORWARD(RobotStateVisualization);
49 
52 {
53 public:
54  RobotStateVisualization(Ogre::SceneNode* root_node, rviz::DisplayContext* context, const std::string& name,
55  rviz::Property* parent_property);
56 
58  {
59  return robot_;
60  }
61 
62  void load(const urdf::ModelInterface& descr, bool visual = true, bool collision = true);
63  void clear();
64 
65  void update(const robot_state::RobotStateConstPtr& kinematic_state);
66  void update(const robot_state::RobotStateConstPtr& kinematic_state,
67  const std_msgs::ColorRGBA& default_attached_object_color);
68  void update(const robot_state::RobotStateConstPtr& kinematic_state,
69  const std_msgs::ColorRGBA& default_attached_object_color,
70  const std::map<std::string, std_msgs::ColorRGBA>& color_map);
71  void setDefaultAttachedObjectColor(const std_msgs::ColorRGBA& default_attached_object_color);
72 
77  void setVisible(bool visible);
78 
83  void setVisualVisible(bool visible);
84 
89  void setCollisionVisible(bool visible);
90 
91  void setAlpha(float alpha);
92 
93 private:
94  void updateHelper(const robot_state::RobotStateConstPtr& kinematic_state,
95  const std_msgs::ColorRGBA& default_attached_object_color,
96  const std::map<std::string, std_msgs::ColorRGBA>* color_map);
98  RenderShapesPtr render_shapes_;
99  std_msgs::ColorRGBA default_attached_object_color_;
102 
103  bool visible_;
106 };
107 }
108 
109 #endif
void setDefaultAttachedObjectColor(const std_msgs::ColorRGBA &default_attached_object_color)
MOVEIT_CLASS_FORWARD(RobotStateVisualization)
Update the links of an rviz::Robot using a robot_state::RobotState.
void setVisualVisible(bool visible)
Set whether the visual meshes of the robot should be visible.
void setCollisionVisible(bool visible)
Set whether the collision meshes/primitives of the robot should be visible.
void load(const urdf::ModelInterface &descr, bool visual=true, bool collision=true)
name
void setVisible(bool visible)
Set the robot as a whole to be visible or not.
void update(const robot_state::RobotStateConstPtr &kinematic_state)
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)
RobotStateVisualization(Ogre::SceneNode *root_node, rviz::DisplayContext *context, const std::string &name, rviz::Property *parent_property)


visualization
Author(s): Ioan Sucan , Dave Coleman , Sachin Chitta
autogenerated on Sun Oct 18 2020 13:19:09