robot_nav_rviz_plugins::OgrePanel Class Reference

A collection of Ogre objects for rendering a two-dimensional rectangular plane (such as a map) in rviz. More...

#include <ogre_panel.h>

Classes
class	PartialOgrePanel
	Portion of the larger OgrePanel....see above. More...

Public Types
using	Ptr = std::shared_ptr< OgrePanel >

Public Member Functions
void	addPalette (const NavGridPalette &palette)
	Add a palette with the given name. More...
void	clear ()
	Clear the panel from the visualization by making it invisible. More...
	OgrePanel (nav_grid::VectorNavGrid< unsigned char > &data, Ogre::SceneManager &scene_manager, Ogre::SceneNode &scene_node)
void	setPalette (const std::string &palette_name)
	Set the palette to use. More...
bool	transformMap (rviz::FrameManager &fm)
	Move the map to its proper position and orientation. More...
void	updateAlpha (float alpha, bool draw_behind)
	Sets the alpha/draw_behind properties. More...
void	updateData (const nav_core2::UIntBounds &updated_bounds)
	Update the panel data within the given bounds. More...
void	updateInfo (const nav_grid::NavGridInfo &info)
	Update the location/shape of the grid. More...

Protected Attributes
std::string	current_palette_
nav_grid::VectorNavGrid< unsigned char > &	data_
std::map< std::string, bool >	palette_transparency_
std::map< std::string, Ogre::TexturePtr >	palettes_
Ogre::SceneManager &	scene_manager_
Ogre::SceneNode &	scene_node_
std::vector< PartialOgrePanel::Ptr >	swatches_

Detailed Description

A collection of Ogre objects for rendering a two-dimensional rectangular plane (such as a map) in rviz.

If the panel is sufficiently small, it can be done in a single Ogre::ManualObject. However, if it gets too big then Ogre has difficulty rendering such a large texture. Hence, the OgrePanel is divided up into smaller PartialOgrePanels, each of which contains a single ManualObject. See https://github.com/ros-visualization/rviz/pull/1007 for more details.

The pixels in the panel are determined by two things, the NavGrid data and the palette. The data provides a mapping from each cell to a unsigned char (0-255), and the palette provides a mapping from the unsigned char to a RGBA color.

Definition at line 63 of file ogre_panel.h.

Member Typedef Documentation

using robot_nav_rviz_plugins::OgrePanel::Ptr = std::shared_ptr<OgrePanel>

Definition at line 113 of file ogre_panel.h.

Constructor & Destructor Documentation

robot_nav_rviz_plugins::OgrePanel::OgrePanel	(	nav_grid::VectorNavGrid< unsigned char > &	data,
		Ogre::SceneManager &	scene_manager,
		Ogre::SceneNode &	scene_node
	)

Definition at line 51 of file ogre_panel.cpp.

Member Function Documentation

void robot_nav_rviz_plugins::OgrePanel::addPalette

(

const NavGridPalette &

palette

)

Add a palette with the given name.

Definition at line 131 of file ogre_panel.cpp.

void robot_nav_rviz_plugins::OgrePanel::clear

(

)

Clear the panel from the visualization by making it invisible.

Definition at line 215 of file ogre_panel.cpp.

void robot_nav_rviz_plugins::OgrePanel::setPalette

(

const std::string &

palette_name

)

Set the palette to use.

Parameters

palette_name

Name of the pallete (needs to be added previously with addPalette)

Definition at line 165 of file ogre_panel.cpp.

bool robot_nav_rviz_plugins::OgrePanel::transformMap

(

rviz::FrameManager &

fm

)

Move the map to its proper position and orientation.

Parameters

fm	Frame manager with TF info

Returns

Whether the correct frame was found

Definition at line 223 of file ogre_panel.cpp.

void robot_nav_rviz_plugins::OgrePanel::updateAlpha	(	float	alpha,
		bool	draw_behind
	)

Sets the alpha/draw_behind properties.

Parameters

alpha	The desired alpha channel value for the panel. [0.0, 1.0]
draw_behind	Whether it should be drawn before (behind) the other maps

Definition at line 175 of file ogre_panel.cpp.

void robot_nav_rviz_plugins::OgrePanel::updateData

(

const nav_core2::UIntBounds &

updated_bounds

)

Update the panel data within the given bounds.

Assumes underlying data object's values have already changed and this class just updates the Ogre objects

Parameters

updated_bounds

Bounds of the grid that have been updated

Definition at line 94 of file ogre_panel.cpp.

void robot_nav_rviz_plugins::OgrePanel::updateInfo

(

const nav_grid::NavGridInfo &

info

)

Update the location/shape of the grid.

Parameters

info

New shape

Definition at line 57 of file ogre_panel.cpp.

Member Data Documentation

std::string robot_nav_rviz_plugins::OgrePanel::current_palette_

protected

Definition at line 158 of file ogre_panel.h.

nav_grid::VectorNavGrid<unsigned char>& robot_nav_rviz_plugins::OgrePanel::data_

protected

Definition at line 151 of file ogre_panel.h.

std::map<std::string, bool> robot_nav_rviz_plugins::OgrePanel::palette_transparency_

protected

Definition at line 157 of file ogre_panel.h.

std::map<std::string, Ogre::TexturePtr> robot_nav_rviz_plugins::OgrePanel::palettes_

protected

Definition at line 156 of file ogre_panel.h.

Ogre::SceneManager& robot_nav_rviz_plugins::OgrePanel::scene_manager_

protected

Definition at line 152 of file ogre_panel.h.

Ogre::SceneNode& robot_nav_rviz_plugins::OgrePanel::scene_node_

protected

Definition at line 153 of file ogre_panel.h.

std::vector<PartialOgrePanel::Ptr> robot_nav_rviz_plugins::OgrePanel::swatches_

protected

Definition at line 154 of file ogre_panel.h.

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

• ogre_panel.h
• ogre_panel.cpp