Classes | Public Member Functions | Public Attributes | Private Member Functions | List of all members
pinocchio.visualize.rviz_visualizer.RVizVisualizer Class Reference
Inheritance diagram for pinocchio.visualize.rviz_visualizer.RVizVisualizer:
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Classes

class  Viewer
 

Public Member Functions

def clean (self)
 
def display (self, q=None)
 
def displayCollisions (self, visibility)
 
def displayVisuals (self, visibility)
 
def initViewer (self, viewer=None, windowName="python-pinocchio", loadModel=False, initRosNode=True)
 
def loadViewerModel (self, rootNodeName="pinocchio")
 
def sleep (self, dt)
 

Public Attributes

 collision_Display
 
 collision_ids
 
 collisions_publisher
 
 group_Display
 
 seq
 
 viewer
 
 visual_Display
 
 visual_ids
 
 visuals_publisher
 

Private Member Functions

def _clean (self, publisher)
 
def _plot (self, publisher, model, data, previous_ids=())
 

Detailed Description

A Pinocchio display using RViz

Definition at line 52 of file rviz_visualizer.py.

Member Function Documentation

◆ _clean()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer._clean (   self,
  publisher 
)
private
Delete all the markers from a topic (use one marker with action DELETEALL)

Definition at line 217 of file rviz_visualizer.py.

◆ _plot()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer._plot (   self,
  publisher,
  model,
  data,
  previous_ids = () 
)
private
Create markers for each object of the model and publish it as MarkerArray (also delete unused previously created markers)

Definition at line 143 of file rviz_visualizer.py.

◆ clean()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.clean (   self)
Delete all the objects from the whole scene 

Definition at line 119 of file rviz_visualizer.py.

◆ display()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.display (   self,
  q = None 
)
Display the robot at configuration q in the viz by placing all the bodies.

Definition at line 129 of file rviz_visualizer.py.

◆ displayCollisions()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.displayCollisions (   self,
  visibility 
)
Set whether to display collision objects or not

Definition at line 237 of file rviz_visualizer.py.

◆ displayVisuals()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.displayVisuals (   self,
  visibility 
)
Set whether to display visual objects or not

Definition at line 241 of file rviz_visualizer.py.

◆ initViewer()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.initViewer (   self,
  viewer = None,
  windowName = "python-pinocchio",
  loadModel = False,
  initRosNode = True 
)
Init RVizViewer by starting a ros node (or not) and creating an RViz window.

Definition at line 59 of file rviz_visualizer.py.

◆ loadViewerModel()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.loadViewerModel (   self,
  rootNodeName = "pinocchio" 
)
Create the displays in RViz and create publishers for the MarkerArray

Definition at line 93 of file rviz_visualizer.py.

◆ sleep()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.sleep (   self,
  dt 
)

Definition at line 245 of file rviz_visualizer.py.

Member Data Documentation

◆ collision_Display

pinocchio.visualize.rviz_visualizer.RVizVisualizer.collision_Display

Definition at line 106 of file rviz_visualizer.py.

◆ collision_ids

pinocchio.visualize.rviz_visualizer.RVizVisualizer.collision_ids

Definition at line 108 of file rviz_visualizer.py.

◆ collisions_publisher

pinocchio.visualize.rviz_visualizer.RVizVisualizer.collisions_publisher

Definition at line 105 of file rviz_visualizer.py.

◆ group_Display

pinocchio.visualize.rviz_visualizer.RVizVisualizer.group_Display

Definition at line 112 of file rviz_visualizer.py.

◆ seq

pinocchio.visualize.rviz_visualizer.RVizVisualizer.seq

Definition at line 116 of file rviz_visualizer.py.

◆ viewer

pinocchio.visualize.rviz_visualizer.RVizVisualizer.viewer

Definition at line 77 of file rviz_visualizer.py.

◆ visual_Display

pinocchio.visualize.rviz_visualizer.RVizVisualizer.visual_Display

Definition at line 100 of file rviz_visualizer.py.

◆ visual_ids

pinocchio.visualize.rviz_visualizer.RVizVisualizer.visual_ids

Definition at line 102 of file rviz_visualizer.py.

◆ visuals_publisher

pinocchio.visualize.rviz_visualizer.RVizVisualizer.visuals_publisher

Definition at line 99 of file rviz_visualizer.py.


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


pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:36