pinocchio.visualize.rviz_visualizer.RVizVisualizer Class Reference

Inheritance diagram for pinocchio.visualize.rviz_visualizer.RVizVisualizer:

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.

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

• rviz_visualizer.py