trajectory_display.h
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2015, University of Colorado, Boulder
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of the Univ of CO, Boulder nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Dave Coleman
36  Desc: Wraps a trajectory_visualization playback class for Rviz into a stand alone display
37 */
38 
39 #ifndef MOVEIT_TRAJECTORY_RVIZ_PLUGIN__TRAJECTORY_DISPLAY
40 #define MOVEIT_TRAJECTORY_RVIZ_PLUGIN__TRAJECTORY_DISPLAY
41 
42 #include <rviz/display.h>
43 
45 #ifndef Q_MOC_RUN
46 #include <ros/ros.h>
48 #endif
49 
50 namespace rviz
51 {
52 class StringProperty;
53 }
54 
55 namespace moveit_rviz_plugin
56 {
58 {
59  Q_OBJECT
60  // friend class TrajectoryVisualization; // allow the visualization class to access the display
61 
62 public:
64 
65  virtual ~TrajectoryDisplay();
66 
67  void loadRobotModel();
68 
69  virtual void update(float wall_dt, float ros_dt);
70  virtual void reset();
71 
72  // overrides from Display
73  virtual void onInitialize();
74  virtual void onEnable();
75  virtual void onDisable();
76  void setName(const QString& name);
77 
78 private Q_SLOTS:
82  void changedRobotDescription();
83 
84 protected:
85  // The trajectory playback component
86  TrajectoryVisualizationPtr trajectory_visual_;
87 
88  // Load robot model
89  rdf_loader::RDFLoaderPtr rdf_loader_;
90  robot_model::RobotModelConstPtr robot_model_;
91  robot_state::RobotStatePtr robot_state_;
92  bool load_robot_model_; // for delayed robot initialization
93 
94  // Properties
96 };
97 
98 } // namespace moveit_rviz_plugin
99 
100 #endif
void loadRobotModel(urdf::ModelInterfaceSharedPtr &robot_model_out)
robot_state::RobotStatePtr robot_state_
name
void update(const std::string &key, const XmlRpc::XmlRpcValue &v)
rviz::StringProperty * robot_description_property_
robot_model::RobotModelConstPtr robot_model_
TrajectoryVisualizationPtr trajectory_visual_


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