CovarianceVisual consisting in a ellipse for position and 2D ellipses along the axis for orientation. More...

#include <covariance_visual.h>

Inheritance diagram for rviz::CovarianceVisual:

Public Types
enum	ShapeIndex { kRoll = 0, kPitch = 1, kYaw = 2, kYaw2D = 3, kNumOriShapes }

Public Member Functions
	CovarianceVisual (Ogre::SceneManager scene_manager, Ogre::SceneNode parent_node, bool is_local_rotation, bool is_visible=true, float pos_scale=1.0f, float ori_scale=0.1f, float ori_offset=0.1f)
	Constructor. More...

Ogre::SceneNode *	getOrientationSceneNode ()
	Get the root scene node of the orientation part of this covariance. More...

rviz::Shape *	getOrientationShape (ShapeIndex index)
	Get the shape used to display orientation covariance in an especific axis. More...

virtual const Ogre::Quaternion &	getPositionCovarianceOrientation ()

virtual const Ogre::Vector3 &	getPositionCovarianceScale ()

Ogre::SceneNode *	getPositionSceneNode ()
	Get the root scene node of the position part of this covariance. More...

rviz::Shape *	getPositionShape ()
	Get the shape used to display position covariance. More...

virtual void	setCovariance (const geometry_msgs::PoseWithCovariance &pose)
	Set the covariance. More...

void	setOrientation (const Ogre::Quaternion &orientation) override
	Sets orientation of the frame this covariance is attached. More...

virtual void	setOrientationColor (float r, float g, float b, float a)
	Set the color of the orientation covariance. Values are in the range [0, 1]. More...

void	setOrientationColor (const Ogre::ColourValue &color)

void	setOrientationColorToRGB (float a)

void	setOrientationOffset (float ori_offset)

void	setOrientationScale (float ori_scale)

virtual void	setOrientationVisible (bool visible)
	Sets visibility of the orientation part of this covariance. More...

void	setPosition (const Ogre::Vector3 &position) override
	Sets position of the frame this covariance is attached. More...

virtual void	setPositionColor (float r, float g, float b, float a)
	Set the color of the position covariance. Values are in the range [0, 1]. More...

void	setPositionColor (const Ogre::ColourValue &color)

void	setPositionScale (float pos_scale)

virtual void	setPositionVisible (bool visible)
	Sets visibility of the position part of this covariance. More...

virtual void	setRotatingFrame (bool use_rotating_frame)
	Sets which frame to attach the covariance of the orientation. More...

void	setScales (float pos_scale, float ori_scale)
	Set the position and orientation scales for this covariance. More...

void	setUserData (const Ogre::Any &data) override
	Sets user data on all ogre objects we own. More...

virtual void	setVisible (bool visible)
	Sets visibility of this covariance. More...

	~CovarianceVisual () override

Public Member Functions inherited from rviz::Object
	Object (Ogre::SceneManager *scene_manager)

virtual	~Object ()

Private Member Functions
const Ogre::Quaternion &	getOrientation () override
	Get the local orientation of this object. More...

const Ogre::Vector3 &	getPosition () override
	Get the local position of this object. More...

void	setColor (float, float, float, float) override
	Set the color of the object. Values are in the range [0, 1]. More...

void	setScale (const Ogre::Vector3 &) override
	Set the scale of the object. Always relative to the identity orientation of the object. More...

void	updateOrientation (const Eigen::Matrix6d &covariance, ShapeIndex index)

void	updateOrientationVisibility ()

void	updatePosition (const Eigen::Matrix6d &covariance)

Private Attributes
Ogre::Vector3	current_ori_scale_ [kNumOriShapes]

float	current_ori_scale_factor_

Ogre::SceneNode *	fixed_orientation_node_

bool	local_rotation_

Ogre::SceneNode *	orientation_offset_node_ [kNumOriShapes]

Ogre::SceneNode *	orientation_root_node_

rviz::Shape *	orientation_shape_ [kNumOriShapes]
	Cylinders used for the orientation covariance. More...

bool	orientation_visible_
	If the orientation component is visible. More...

bool	pose_2d_

Ogre::SceneNode *	position_node_

Ogre::SceneNode *	position_scale_node_

rviz::Shape *	position_shape_
	Ellipse used for the position covariance. More...

Ogre::SceneNode *	root_node_

Static Private Attributes
static const float	max_degrees = 89.0

Friends
class	CovarianceProperty

Additional Inherited Members
Protected Attributes inherited from rviz::Object
Ogre::SceneManager *	scene_manager_
	Ogre scene manager this object is part of. More...

Detailed Description

CovarianceVisual consisting in a ellipse for position and 2D ellipses along the axis for orientation.

Definition at line 68 of file covariance_visual.h.

Member Enumeration Documentation

◆ ShapeIndex

enum rviz::CovarianceVisual::ShapeIndex

Enumerator
kRoll
kPitch
kYaw
kYaw2D
kNumOriShapes

Definition at line 71 of file covariance_visual.h.

Constructor & Destructor Documentation

◆ CovarianceVisual()

rviz::CovarianceVisual::CovarianceVisual	(	Ogre::SceneManager *	scene_manager,
		Ogre::SceneNode *	parent_node,
		bool	is_local_rotation,
		bool	is_visible = `true`,
		float	pos_scale = `1.0f`,
		float	ori_scale = `0.1f`,
		float	ori_offset = `0.1f`
	)

Constructor.

Parameters

scene_manager	The scene manager to use to construct any necessary objects
parent_object	A rviz object that this covariance will be attached.
is_local_rotation	Initial attachment of the rotation part
is_visible	Initial visibility
pos_scale	Scale of the position covariance
ori_scale	Scale of the orientation covariance

Definition at line 224 of file covariance_visual.cpp.

◆ ~CovarianceVisual()

rviz::CovarianceVisual::~CovarianceVisual ( )

override

Definition at line 310 of file covariance_visual.cpp.

Member Function Documentation

◆ getOrientation()

const Ogre::Quaternion & rviz::CovarianceVisual::getOrientation ( )

overrideprivatevirtual

Get the local orientation of this object.

Returns: The orientation

Implements rviz::Object.

Definition at line 609 of file covariance_visual.cpp.

◆ getOrientationSceneNode()

Ogre::SceneNode* rviz::CovarianceVisual::getOrientationSceneNode ( )

inline

Get the root scene node of the orientation part of this covariance.

Returns: the root scene node of the orientation part of this covariance

Definition at line 155 of file covariance_visual.h.

◆ getOrientationShape()

rviz::Shape * rviz::CovarianceVisual::getOrientationShape ( ShapeIndex index )

Get the shape used to display orientation covariance in an especific axis.

Returns: the shape used to display orientation covariance in an especific axis

Definition at line 637 of file covariance_visual.cpp.

◆ getPosition()

const Ogre::Vector3 & rviz::CovarianceVisual::getPosition ( )

overrideprivatevirtual

Get the local position of this object.

Returns: The position

Implements rviz::Object.

Definition at line 604 of file covariance_visual.cpp.

◆ getPositionCovarianceOrientation()

const Ogre::Quaternion & rviz::CovarianceVisual::getPositionCovarianceOrientation ( )

virtual

Definition at line 564 of file covariance_visual.cpp.

◆ getPositionCovarianceScale()

const Ogre::Vector3 & rviz::CovarianceVisual::getPositionCovarianceScale ( )

virtual

Definition at line 559 of file covariance_visual.cpp.

◆ getPositionSceneNode()

Ogre::SceneNode* rviz::CovarianceVisual::getPositionSceneNode ( )

inline

Get the root scene node of the position part of this covariance.

Returns: the root scene node of the position part of this covariance

Definition at line 146 of file covariance_visual.h.

◆ getPositionShape()

rviz::Shape* rviz::CovarianceVisual::getPositionShape ( )

inline

Get the shape used to display position covariance.

Returns: the shape used to display position covariance

Definition at line 164 of file covariance_visual.h.

◆ setColor()

void rviz::CovarianceVisual::setColor	(	float	r,
		float	g,
		float	b,
		float	a
	)

inlineoverrideprivatevirtual

Set the color of the object. Values are in the range [0, 1].

Parameters

r	Red component
g	Green component
b	Blue component

Implements rviz::Object.

Definition at line 245 of file covariance_visual.h.

◆ setCovariance()

void rviz::CovarianceVisual::setCovariance ( const geometry_msgs::PoseWithCovariance & pose )

virtual

Set the covariance.

This effectively changes the orientation and scale of position and orientation covariance shapes

Definition at line 326 of file covariance_visual.cpp.

◆ setOrientation()

void rviz::CovarianceVisual::setOrientation ( const Ogre::Quaternion & orientation )

overridevirtual

Sets orientation of the frame this covariance is attached.

Implements rviz::Object.

Definition at line 619 of file covariance_visual.cpp.

◆ setOrientationColor() [1/2]

void rviz::CovarianceVisual::setOrientationColor	(	float	r,
		float	g,
		float	b,
		float	a
	)

virtual

Set the color of the orientation covariance. Values are in the range [0, 1].

Parameters

r	Red component
g	Green component
b	Blue component

Definition at line 554 of file covariance_visual.cpp.

◆ setOrientationColor() [2/2]

void rviz::CovarianceVisual::setOrientationColor ( const Ogre::ColourValue & color )

Definition at line 533 of file covariance_visual.cpp.

◆ setOrientationColorToRGB()

void rviz::CovarianceVisual::setOrientationColorToRGB ( float a )

Definition at line 541 of file covariance_visual.cpp.

◆ setOrientationOffset()

void rviz::CovarianceVisual::setOrientationOffset ( float ori_offset )

Definition at line 471 of file covariance_visual.cpp.

◆ setOrientationScale()

void rviz::CovarianceVisual::setOrientationScale ( float ori_scale )

Definition at line 495 of file covariance_visual.cpp.

◆ setOrientationVisible()

void rviz::CovarianceVisual::setOrientationVisible ( bool visible )

virtual

Sets visibility of the orientation part of this covariance.

Definition at line 589 of file covariance_visual.cpp.

◆ setPosition()

void rviz::CovarianceVisual::setPosition ( const Ogre::Vector3 & position )

overridevirtual

Sets position of the frame this covariance is attached.

Implements rviz::Object.

Definition at line 614 of file covariance_visual.cpp.

◆ setPositionColor() [1/2]

void rviz::CovarianceVisual::setPositionColor	(	float	r,
		float	g,
		float	b,
		float	a
	)

virtual

Set the color of the position covariance. Values are in the range [0, 1].

Parameters

r	Red component
g	Green component
b	Blue component

Definition at line 549 of file covariance_visual.cpp.

◆ setPositionColor() [2/2]

void rviz::CovarianceVisual::setPositionColor ( const Ogre::ColourValue & color )

Definition at line 528 of file covariance_visual.cpp.

◆ setPositionScale()

void rviz::CovarianceVisual::setPositionScale ( float pos_scale )

Definition at line 463 of file covariance_visual.cpp.

◆ setPositionVisible()

void rviz::CovarianceVisual::setPositionVisible ( bool visible )

virtual

Sets visibility of the position part of this covariance.

Definition at line 584 of file covariance_visual.cpp.

◆ setRotatingFrame()

void rviz::CovarianceVisual::setRotatingFrame ( bool use_rotating_frame )

virtual

Sets which frame to attach the covariance of the orientation.

Definition at line 624 of file covariance_visual.cpp.

◆ setScale()

void rviz::CovarianceVisual::setScale ( const Ogre::Vector3 & scale )

inlineoverrideprivatevirtual

Set the scale of the object. Always relative to the identity orientation of the object.

Parameters

Scale vector scale to set to.

Implements rviz::Object.

Definition at line 242 of file covariance_visual.h.

◆ setScales()

void rviz::CovarianceVisual::setScales	(	float	pos_scale,
		float	ori_scale
	)

Set the position and orientation scales for this covariance.

Parameters

pos_scale	Scale of the position covariance
ori_scale	Scale of the orientation covariance

Definition at line 457 of file covariance_visual.cpp.

◆ setUserData()

void rviz::CovarianceVisual::setUserData ( const Ogre::Any & data )

overridevirtual

Sets user data on all ogre objects we own.

Implements rviz::Object.

Definition at line 569 of file covariance_visual.cpp.

◆ setVisible()

void rviz::CovarianceVisual::setVisible ( bool visible )

virtual

Sets visibility of this covariance.

Convenience method that sets visibility of both position and orientation parts.

Definition at line 578 of file covariance_visual.cpp.

◆ updateOrientation()

void rviz::CovarianceVisual::updateOrientation	(	const Eigen::Matrix6d &	covariance,
		ShapeIndex	index
	)

private

Definition at line 390 of file covariance_visual.cpp.

◆ updateOrientationVisibility()

void rviz::CovarianceVisual::updateOrientationVisibility ( )

private

Definition at line 595 of file covariance_visual.cpp.

◆ updatePosition()

void rviz::CovarianceVisual::updatePosition ( const Eigen::Matrix6d & covariance )

private

Definition at line 366 of file covariance_visual.cpp.

Friends And Related Function Documentation

◆ CovarianceProperty

friend class CovarianceProperty

friend

Definition at line 252 of file covariance_visual.h.

Member Data Documentation

◆ current_ori_scale_

Ogre::Vector3 rviz::CovarianceVisual::current_ori_scale_[kNumOriShapes]

private

Definition at line 234 of file covariance_visual.h.

◆ current_ori_scale_factor_

float rviz::CovarianceVisual::current_ori_scale_factor_

private

Definition at line 235 of file covariance_visual.h.

◆ fixed_orientation_node_

Ogre::SceneNode* rviz::CovarianceVisual::fixed_orientation_node_

private

Definition at line 218 of file covariance_visual.h.

◆ local_rotation_

bool rviz::CovarianceVisual::local_rotation_

private

Definition at line 228 of file covariance_visual.h.

◆ max_degrees

const float rviz::CovarianceVisual::max_degrees = 89.0

staticprivate

Definition at line 237 of file covariance_visual.h.

◆ orientation_offset_node_

Ogre::SceneNode* rviz::CovarianceVisual::orientation_offset_node_[kNumOriShapes]

private

Definition at line 223 of file covariance_visual.h.

◆ orientation_root_node_

Ogre::SceneNode* rviz::CovarianceVisual::orientation_root_node_

private

Definition at line 222 of file covariance_visual.h.

◆ orientation_shape_

rviz::Shape* rviz::CovarianceVisual::orientation_shape_[kNumOriShapes]

private

Cylinders used for the orientation covariance.

Definition at line 226 of file covariance_visual.h.

◆ orientation_visible_

bool rviz::CovarianceVisual::orientation_visible_

private

If the orientation component is visible.

Definition at line 232 of file covariance_visual.h.

◆ pose_2d_

bool rviz::CovarianceVisual::pose_2d_

private

Definition at line 230 of file covariance_visual.h.

◆ position_node_

Ogre::SceneNode* rviz::CovarianceVisual::position_node_

private

Definition at line 220 of file covariance_visual.h.

◆ position_scale_node_

Ogre::SceneNode* rviz::CovarianceVisual::position_scale_node_

private

Definition at line 219 of file covariance_visual.h.

◆ position_shape_

rviz::Shape* rviz::CovarianceVisual::position_shape_

private

Ellipse used for the position covariance.

Definition at line 225 of file covariance_visual.h.

◆ root_node_

Ogre::SceneNode* rviz::CovarianceVisual::root_node_

private

Definition at line 217 of file covariance_visual.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ShapeIndex

Constructor & Destructor Documentation

◆ CovarianceVisual()

◆ ~CovarianceVisual()

Member Function Documentation

◆ getOrientation()

◆ getOrientationSceneNode()

◆ getOrientationShape()

◆ getPosition()

◆ getPositionCovarianceOrientation()

◆ getPositionCovarianceScale()

◆ getPositionSceneNode()

◆ getPositionShape()

◆ setColor()

◆ setCovariance()

◆ setOrientation()

◆ setOrientationColor() [1/2]

◆ setOrientationColor() [2/2]

◆ setOrientationColorToRGB()

◆ setOrientationOffset()

◆ setOrientationScale()

◆ setOrientationVisible()

◆ setPosition()

◆ setPositionColor() [1/2]

◆ setPositionColor() [2/2]

◆ setPositionScale()

◆ setPositionVisible()

◆ setRotatingFrame()

◆ setScale()

◆ setScales()

◆ setUserData()

◆ setVisible()

◆ updateOrientation()

◆ updateOrientationVisibility()

◆ updatePosition()

Friends And Related Function Documentation

◆ CovarianceProperty

Member Data Documentation

◆ current_ori_scale_

◆ current_ori_scale_factor_

◆ fixed_orientation_node_

◆ local_rotation_

◆ max_degrees

◆ orientation_offset_node_

◆ orientation_root_node_

◆ orientation_shape_

◆ orientation_visible_

◆ pose_2d_

◆ position_node_

◆ position_scale_node_

◆ position_shape_

◆ root_node_