Displays a map along the XY plane. More...

#include <map_display.h>

Inheritance diagram for rviz::MapDisplay:

Signals
void	mapUpdated ()
	Emitted when a new map is received. More...

Signals inherited from rviz::Display
void	timeSignal (ros::Time time, QPrivateSignal)

Signals inherited from rviz::Property
void	aboutToChange ()
	Emitted by setValue() just before the value has changed. More...

void	changed ()
	Emitted by setValue() just after the value has changed. More...

void	childListChanged (Property *this_property)
	Emitted after insertions and deletions of child Properties. More...

Public Member Functions
void	fixedFrameChanged () override
	Called by setFixedFrame(). Override to respond to changes to fixed_frame_. More...

int	getHeight ()

float	getResolution ()

int	getWidth ()

	MapDisplay ()

void	onInitialize () override
	Override this function to do subclass-specific initialization. More...

void	reset () override
	Called to tell the display to clear its state. More...

void	setTopic (const QString &topic, const QString &datatype) override
	Set the ROS topic to listen to for this display. More...

	~MapDisplay () override

Public Member Functions inherited from rviz::Display
virtual void	deleteStatus (const QString &name)
	Delete the status entry with the given name. This is thread-safe. More...

void	deleteStatusStd (const std::string &name)
	Delete the status entry with the given std::string name. This is thread-safe. More...

	Display ()

void	emitTimeSignal (ros::Time time)
	Emit a time signal that other Displays can synchronize to. More...

QWidget *	getAssociatedWidget () const
	Return the current associated widget, or NULL if there is none. More...

PanelDockWidget *	getAssociatedWidgetPanel ()
	Return the panel containing the associated widget, or NULL if there is none. More...

virtual QString	getClassId () const
	Return the class identifier which was used to create this instance. This version just returns whatever was set with setClassId(). More...

Ogre::SceneNode *	getSceneNode () const
	Return the Ogre::SceneNode holding all 3D scene elements shown by this Display. More...

QVariant	getViewData (int column, int role) const override
	Return data appropriate for the given column (0 or 1) and role for this Display. More...

Qt::ItemFlags	getViewFlags (int column) const override
	Return item flags appropriate for the given column (0 or 1) for this Display. More...

uint32_t	getVisibilityBits ()

void	initialize (DisplayContext *context)
	Main initialization, called after constructor, before load() or setEnabled(). More...

bool	isEnabled () const
	Return true if this Display is enabled, false if not. More...

void	load (const Config &config) override
	Load the settings for this display from the given Config node, which must be a map. More...

void	save (Config config) const override
	Write this display to the given Config node. More...

void	setAssociatedWidget (QWidget *widget)
	Associate the given widget with this Display. More...

virtual void	setClassId (const QString &class_id)
	Set the class identifier used to create this instance. Typically this will be set by the factory object which created it. More...

void	setFixedFrame (const QString &fixed_frame)
	Set the fixed frame in this display. More...

void	setName (const QString &name) override
	Overridden from Property to set associated widget title to the new name. More...

virtual void	setStatus (StatusProperty::Level level, const QString &name, const QString &text)
	Show status level and text. This is thread-safe. More...

void	setStatusStd (StatusProperty::Level level, const std::string &name, const std::string &text)
	Show status level and text, using a std::string. Convenience function which converts std::string to QString and calls setStatus(). This is thread-safe. More...

void	setVisibilityBits (uint32_t bits)

void	unsetVisibilityBits (uint32_t bits)

	~Display () override

Public Member Functions inherited from rviz::BoolProperty
	BoolProperty (const QString &name=QString(), bool default_value=false, const QString &description=QString(), Property parent=nullptr, const char changed_slot=nullptr, QObject *receiver=nullptr)

virtual bool	getBool () const

bool	getDisableChildren () override
	If true, the children of this property should set their ItemIsEnabled flag to false. More...

bool	getDisableChildrenIfFalse ()

void	setDisableChildrenIfFalse (bool disable)

	~BoolProperty () override

Public Member Functions inherited from rviz::Property
virtual void	addChild (Property *child, int index=-1)
	Add a child property. More...

Property *	childAt (int index) const
	Return the child Property with the given index, or NULL if the index is out of bounds or if the child at that index is not a Property. More...

virtual Property *	childAtUnchecked (int index) const
	Return the child Property with the given index, without checking whether the index is within bounds. More...

virtual void	collapse ()
	Collapse (hide the children of) this Property. More...

bool	contains (Property *possible_child) const
	Return true if the list of children includes possible_child, false if not. More...

virtual QWidget *	createEditor (QWidget *parent, const QStyleOptionViewItem &option)
	Create an editor widget to edit the value of this property. More...

virtual void	expand ()
	Expand (show the children of) this Property. More...

virtual QString	getDescription () const
	Return the description. More...

virtual bool	getHidden () const
	Return the hidden/shown state. True means hidden, false means visible. More...

virtual QIcon	getIcon () const

PropertyTreeModel *	getModel () const
	Return the model managing this Property and its childrent. More...

virtual QString	getName () const
	Return the name of this Property as a QString. More...

std::string	getNameStd () const
	Return the name of this Property as a std::string. More...

Property *	getParent () const
	Return the parent Property. More...

virtual bool	getReadOnly ()
	Return the read-only-ness of this property. More...

virtual QVariant	getValue () const
	Return the value of this Property as a QVariant. If the value has never been set, an invalid QVariant is returned. More...

void	hide ()
	Hide this Property in any PropertyTreeWidgets. More...

void	insertChildSorted (Property *child)
	Insert a child property, sorted by name. More...

bool	isAncestorOf (Property *possible_child) const
	Returns true if `this` is an ancestor of possible_child, meaning is the parent or parent of parent etc. More...

virtual void	moveChild (int from_index, int to_index)
	Move the child at from_index to to_index. More...

virtual int	numChildren () const
	Return the number of child objects (Property or otherwise). More...

virtual bool	paint (QPainter *painter, const QStyleOptionViewItem &option) const
	Hook to provide custom painting of the value data (right-hand column) in a subclass. More...

	Property (const QString &name=QString(), const QVariant default_value=QVariant(), const QString &description=QString(), Property parent=nullptr, const char changed_slot=nullptr, QObject *receiver=nullptr)
	Constructor. More...

virtual void	removeChildren (int start_index=0, int count=-1)
	Remove and delete some or all child Properties. Does not change the value of this Property. More...

int	rowNumberInParent () const
	Return the row number of this property within its parent, or -1 if it has no parent. More...

virtual void	setDescription (const QString &description)
	Set the description. More...

virtual void	setHidden (bool hidden)
	Hide or show this property in any PropertyTreeWidget viewing its parent. More...

virtual void	setIcon (const QIcon &icon)
	Set the icon to be displayed next to the property. More...

void	setModel (PropertyTreeModel *model)
	Set the model managing this Property and all its child properties, recursively. More...

void	setParent (Property *new_parent)
	Set parent property, without telling the parent. More...

virtual void	setReadOnly (bool read_only)
	Prevent or allow users to edit this property from a PropertyTreeWidget. More...

void	setShouldBeSaved (bool save)
	If save is true and getReadOnly() is false, shouldBeSaved will return true; otherwise false. Default is true. More...

virtual bool	setValue (const QVariant &new_value)
	Set the new value for this property. Returns true if the new value is different from the old value, false if same. More...

bool	shouldBeSaved () const
	Returns true if the property is not read-only AND has data worth saving. More...

void	show ()
	Show this Property in any PropertyTreeWidgets. More...

virtual Property *	subProp (const QString &sub_name)
	Return the first child Property with the given name, or the FailureProperty if no child has the name. More...

Property *	takeChild (Property *child)
	Remove a given child object and return a pointer to it. More...

virtual Property *	takeChildAt (int index)
	Take a child out of the child list, but don't destroy it. More...

	~Property () override
	Destructor. Removes this property from its parent's list of children. More...

Protected Slots
void	showMap ()
	Show current_map_ in the scene. More...

void	transformMap ()

void	updateAlpha ()

void	updateDrawUnder ()

void	updatePalette ()

void	updateTopic ()

Protected Member Functions
void	clear ()

void	createSwatches ()

void	incomingMap (const nav_msgs::OccupancyGrid::ConstPtr &msg)
	Copy msg into current_map_ and call showMap(). More...

void	incomingUpdate (const map_msgs::OccupancyGridUpdate::ConstPtr &update)
	Copy update's data into current_map_ and call showMap(). More...

void	onDisable () override
	Derived classes override this to do the actual work of disabling themselves. More...

void	onEnable () override
	Derived classes override this to do the actual work of enabling themselves. More...

virtual void	subscribe ()

virtual void	unsubscribe ()

void	update (float wall_dt, float ros_dt) override
	Called periodically by the visualization manager. More...

Protected Member Functions inherited from rviz::Display
virtual void	clearStatuses ()
	Delete all status children. This is thread-safe. More...

bool	initialized () const
	Returns true if the display has been initialized. More...

Protected Member Functions inherited from rviz::Property
void	loadValue (const Config &config)
	Load the value of this property specifically, not including children. More...

Protected Attributes
FloatProperty *	alpha_property_

EnumProperty *	color_scheme_property_

std::vector< bool >	color_scheme_transparency_

nav_msgs::OccupancyGrid	current_map_

Property *	draw_under_property_

std::string	frame_

int	height_

IntProperty *	height_property_

bool	loaded_

ros::Subscriber	map_sub_

QuaternionProperty *	orientation_property_

std::vector< Ogre::TexturePtr >	palette_textures_

VectorProperty *	position_property_

float	resolution_

FloatProperty *	resolution_property_

std::vector< Swatch * >	swatches

std::string	topic_

RosTopicProperty *	topic_property_

BoolProperty *	transform_timestamp_property_

BoolProperty *	unreliable_property_

ros::Subscriber	update_sub_

int	width_

IntProperty *	width_property_

Protected Attributes inherited from rviz::Display
DisplayContext *	context_
	This DisplayContext pointer is the main connection a Display has into the rest of rviz. This is how the FrameManager is accessed, the SelectionManager, etc. When a Display subclass wants to signal that a new render should be done right away, call context_->queueRender(). More...

QString	fixed_frame_
	A convenience variable equal to context_->getFixedFrame(). More...

Ogre::SceneManager *	scene_manager_
	A convenience variable equal to context_->getSceneManager(). More...

Ogre::SceneNode *	scene_node_
	The Ogre::SceneNode to hold all 3D scene elements shown by this Display. More...

ros::NodeHandle	threaded_nh_
	A NodeHandle whose CallbackQueue is run from a different thread than the GUI. More...

ros::NodeHandle	update_nh_
	A NodeHandle whose CallbackQueue is run from the main GUI thread (the "update" thread). More...

Protected Attributes inherited from rviz::Property
bool	child_indexes_valid_
	True if row_number_within_parent_ of all children is valid, false if not. More...

QIcon	icon_

PropertyTreeModel *	model_
	Pointer to the PropertyTreeModel managing this property tree. More...

QVariant	value_
	This is the central property value. If you set it directly in a subclass, do so with care because many things depend on the aboutToChange() and changed() events emitted by setValue(). More...

Friends
class	Swatch

Additional Inherited Members
Public Slots inherited from rviz::Display
virtual void	onEnableChanged ()

void	queueRender ()
	Convenience function which calls context_->queueRender(). More...

void	setEnabled (bool enabled)
	Enable or disable this Display. More...

void	setIcon (const QIcon &icon) override
	Set the Display's icon. More...

Public Slots inherited from rviz::BoolProperty
bool	setBool (bool value)

Detailed Description

Displays a map along the XY plane.

Definition at line 97 of file map_display.h.

Constructor & Destructor Documentation

◆ MapDisplay()

rviz::MapDisplay::MapDisplay ( )

Definition at line 222 of file map_display.cpp.

◆ ~MapDisplay()

rviz::MapDisplay::~MapDisplay ( )

override

Definition at line 273 of file map_display.cpp.

Member Function Documentation

◆ clear()

void rviz::MapDisplay::clear ( )

protected

Definition at line 525 of file map_display.cpp.

◆ createSwatches()

void rviz::MapDisplay::createSwatches ( )

protected

Definition at line 592 of file map_display.cpp.

◆ fixedFrameChanged()

void rviz::MapDisplay::fixedFrameChanged ( )

overridevirtual

Called by setFixedFrame(). Override to respond to changes to fixed_frame_.

Reimplemented from rviz::Display.

Definition at line 821 of file map_display.cpp.

◆ getHeight()

int rviz::MapDisplay::getHeight ( )

inline

Definition at line 118 of file map_display.h.

◆ getResolution()

float rviz::MapDisplay::getResolution ( )

inline

Definition at line 110 of file map_display.h.

◆ getWidth()

int rviz::MapDisplay::getWidth ( )

inline

Definition at line 114 of file map_display.h.

◆ incomingMap()

void rviz::MapDisplay::incomingMap ( const nav_msgs::OccupancyGrid::ConstPtr & msg )

protected

Copy msg into current_map_ and call showMap().

Definition at line 557 of file map_display.cpp.

◆ incomingUpdate()

void rviz::MapDisplay::incomingUpdate ( const map_msgs::OccupancyGridUpdate::ConstPtr & update )

protected

Copy update's data into current_map_ and call showMap().

Definition at line 566 of file map_display.cpp.

◆ mapUpdated

void rviz::MapDisplay::mapUpdated ( )

signal

Emitted when a new map is received.

◆ onDisable()

void rviz::MapDisplay::onDisable ( )

overrideprotectedvirtual

Derived classes override this to do the actual work of disabling themselves.

Reimplemented from rviz::Display.

Definition at line 422 of file map_display.cpp.

◆ onEnable()

void rviz::MapDisplay::onEnable ( )

overrideprotectedvirtual

Derived classes override this to do the actual work of enabling themselves.

Reimplemented from rviz::Display.

Definition at line 417 of file map_display.cpp.

◆ onInitialize()

void rviz::MapDisplay::onInitialize ( )

overridevirtual

Override this function to do subclass-specific initialization.

This is called after vis_manager_ and scene_manager_ are set, and before load() or setEnabled().

setName() may or may not have been called before this.

Reimplemented from rviz::Display.

Definition at line 406 of file map_display.cpp.

◆ reset()

void rviz::MapDisplay::reset ( )

overridevirtual

Called to tell the display to clear its state.

Reimplemented from rviz::Display.

Definition at line 826 of file map_display.cpp.

◆ setTopic()

void rviz::MapDisplay::setTopic	(	const QString &	topic,
		const QString &	datatype
	)

overridevirtual

Set the ROS topic to listen to for this display.

By default, do nothing. Subclasses should override this method if they subscribe to a single ROS topic.

setTopic() is used by the "New display by topic" window; it is called with a user selected topic and its type.

Parameters

topic	The published topic to be visualized.
datatype	The datatype of the topic.

Reimplemented from rviz::Display.

Definition at line 835 of file map_display.cpp.

◆ showMap

void rviz::MapDisplay::showMap ( )

protectedslot

Show current_map_ in the scene.

Definition at line 652 of file map_display.cpp.

◆ subscribe()

void rviz::MapDisplay::subscribe ( )

protectedvirtual

Definition at line 428 of file map_display.cpp.

◆ transformMap

void rviz::MapDisplay::transformMap ( )

protectedslot

Definition at line 785 of file map_display.cpp.

◆ unsubscribe()

void rviz::MapDisplay::unsubscribe ( )

protectedvirtual

Definition at line 469 of file map_display.cpp.

◆ update()

void rviz::MapDisplay::update	(	float	wall_dt,
		float	ros_dt
	)

overrideprotectedvirtual

Called periodically by the visualization manager.

Parameters

wall_dt	Wall-clock time, in seconds, since the last time the update list was run through.
ros_dt	ROS time, in seconds, since the last time the update list was run through.

Reimplemented from rviz::Display.

Definition at line 840 of file map_display.cpp.

◆ updateAlpha

void rviz::MapDisplay::updateAlpha ( )

protectedslot

Definition at line 475 of file map_display.cpp.

◆ updateDrawUnder

void rviz::MapDisplay::updateDrawUnder ( )

protectedslot

Definition at line 500 of file map_display.cpp.

◆ updatePalette

void rviz::MapDisplay::updatePalette ( )

protectedslot

Definition at line 762 of file map_display.cpp.

◆ updateTopic

void rviz::MapDisplay::updateTopic ( )

protectedslot

Definition at line 518 of file map_display.cpp.

Friends And Related Function Documentation

◆ Swatch

friend class Swatch

friend

Definition at line 99 of file map_display.h.

Member Data Documentation

◆ alpha_property_

FloatProperty* rviz::MapDisplay::alpha_property_

protected

Definition at line 178 of file map_display.h.

◆ color_scheme_property_

EnumProperty* rviz::MapDisplay::color_scheme_property_

protected

Definition at line 180 of file map_display.h.

◆ color_scheme_transparency_

std::vector<bool> rviz::MapDisplay::color_scheme_transparency_

protected

Definition at line 159 of file map_display.h.

◆ current_map_

nav_msgs::OccupancyGrid rviz::MapDisplay::current_map_

protected

Definition at line 167 of file map_display.h.

◆ draw_under_property_

Property* rviz::MapDisplay::draw_under_property_

protected

Definition at line 179 of file map_display.h.

◆ frame_

std::string rviz::MapDisplay::frame_

protected

Definition at line 166 of file map_display.h.

◆ height_

int rviz::MapDisplay::height_

protected

Definition at line 165 of file map_display.h.

◆ height_property_

IntProperty* rviz::MapDisplay::height_property_

protected

Definition at line 175 of file map_display.h.

◆ loaded_

bool rviz::MapDisplay::loaded_

protected

Definition at line 160 of file map_display.h.

◆ map_sub_

ros::Subscriber rviz::MapDisplay::map_sub_

protected

Definition at line 169 of file map_display.h.

◆ orientation_property_

QuaternionProperty* rviz::MapDisplay::orientation_property_

protected

Definition at line 177 of file map_display.h.

◆ palette_textures_

std::vector<Ogre::TexturePtr> rviz::MapDisplay::palette_textures_

protected

Definition at line 158 of file map_display.h.

◆ position_property_

VectorProperty* rviz::MapDisplay::position_property_

protected

Definition at line 176 of file map_display.h.

◆ resolution_

float rviz::MapDisplay::resolution_

protected

Definition at line 163 of file map_display.h.

◆ resolution_property_

FloatProperty* rviz::MapDisplay::resolution_property_

protected

Definition at line 173 of file map_display.h.

◆ swatches

std::vector<Swatch*> rviz::MapDisplay::swatches

protected

Definition at line 157 of file map_display.h.

◆ topic_

std::string rviz::MapDisplay::topic_

protected

Definition at line 162 of file map_display.h.

◆ topic_property_

RosTopicProperty* rviz::MapDisplay::topic_property_

protected

Definition at line 172 of file map_display.h.

◆ transform_timestamp_property_

BoolProperty* rviz::MapDisplay::transform_timestamp_property_

protected

Definition at line 183 of file map_display.h.

◆ unreliable_property_

BoolProperty* rviz::MapDisplay::unreliable_property_

protected

Definition at line 182 of file map_display.h.

◆ update_sub_

ros::Subscriber rviz::MapDisplay::update_sub_

protected

Definition at line 170 of file map_display.h.

◆ width_

int rviz::MapDisplay::width_

protected

Definition at line 164 of file map_display.h.

◆ width_property_

IntProperty* rviz::MapDisplay::width_property_

protected

Definition at line 174 of file map_display.h.

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

Signals

Public Member Functions

Protected Slots

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MapDisplay()

◆ ~MapDisplay()

Member Function Documentation

◆ clear()

◆ createSwatches()

◆ fixedFrameChanged()

◆ getHeight()

◆ getResolution()

◆ getWidth()

◆ incomingMap()

◆ incomingUpdate()

◆ mapUpdated

◆ onDisable()

◆ onEnable()

◆ onInitialize()

◆ reset()

◆ setTopic()

◆ showMap

◆ subscribe()

◆ transformMap

◆ unsubscribe()

◆ update()

◆ updateAlpha

◆ updateDrawUnder

◆ updatePalette

◆ updateTopic

Friends And Related Function Documentation

◆ Swatch

Member Data Documentation

◆ alpha_property_

◆ color_scheme_property_

◆ color_scheme_transparency_

◆ current_map_

◆ draw_under_property_

◆ frame_

◆ height_

◆ height_property_

◆ loaded_

◆ map_sub_

◆ orientation_property_

◆ palette_textures_

◆ position_property_

◆ resolution_

◆ resolution_property_

◆ swatches

◆ topic_

◆ topic_property_

◆ transform_timestamp_property_

◆ unreliable_property_

◆ update_sub_

◆ width_

◆ width_property_