Contains any data we need from a link in the robot. More...

#include <robot_link.h>

Inheritance diagram for rviz::RobotLink:

Public Slots
void	updateVisibility ()
	Update the visibility of the link elements: visual mesh, collision mesh, trail, and axes. More...

Public Member Functions
void	expandDetails (bool expand)

const std::vector< std::string > &	getChildJointNames () const

Ogre::SceneNode *	getCollisionNode () const

const std::string &	getGeometryErrors () const

Property *	getLinkProperty () const

const std::string &	getName () const

bool	getOnlyRenderDepth () const

Ogre::Quaternion	getOrientation ()

const std::string &	getParentJointName () const

Ogre::Vector3	getPosition ()

Robot *	getRobot () const

bool	getSelectable ()

Ogre::SceneNode *	getVisualNode () const

bool	hasGeometry () const

virtual void	hideSubProperties (bool hide)

	RobotLink (Robot *robot, const urdf::LinkConstSharedPtr &link, const std::string &parent_joint_name, bool visual, bool collision)

void	setColor (float red, float green, float blue)

void	setOnlyRenderDepth (bool onlyRenderDepth)

void	setParentProperty (Property *new_parent)

virtual void	setRobotAlpha (float a)

bool	setSelectable (bool selectable)

void	setToErrorMaterial ()

void	setToNormalMaterial ()

virtual void	setTransforms (const Ogre::Vector3 &visual_position, const Ogre::Quaternion &visual_orientation, const Ogre::Vector3 &collision_position, const Ogre::Quaternion &collision_orientation)

void	unsetColor ()

void	useDetailProperty (bool use_detail)

	~RobotLink () override

Protected Attributes
FloatProperty *	alpha_property_

Property *	axes_property_

std::vector< std::string >	child_joint_names_

DisplayContext *	context_

Property *	details_

Property *	link_property_

std::string	name_
	Name of this link. More...

QuaternionProperty *	orientation_property_

std::string	parent_joint_name_

VectorProperty *	position_property_

Robot *	robot_

Ogre::SceneManager *	scene_manager_

Property *	trail_property_

Private Types
typedef std::map< Ogre::SubEntity *, Ogre::MaterialPtr >	M_SubEntityToMaterial

enum	MaterialMode { ORIGINAL = 0, COLOR = 1, ERROR = 2 }

Private Slots
void	updateAlpha ()

void	updateAxes ()

void	updateTrail ()

Private Member Functions
void	addError (const char *format,...)

void	createCollision (const urdf::LinkConstSharedPtr &link)

void	createEntityForGeometryElement (const urdf::LinkConstSharedPtr &link, const urdf::Geometry &geom, const urdf::MaterialSharedPtr &material, const urdf::Pose &origin, Ogre::SceneNode scene_node, Ogre::Entity &entity)

void	createSelection ()

void	createVisual (const urdf::LinkConstSharedPtr &link)

bool	getEnabled () const

Ogre::MaterialPtr	getMaterialForLink (const urdf::LinkConstSharedPtr &link, urdf::MaterialConstSharedPtr material)

void	setMaterialMode (unsigned char mode_flags)

void	setRenderQueueGroup (Ogre::uint8 group)

Private Attributes
Axes *	axes_

std::vector< Ogre::Entity * >	collision_meshes_
	The entities representing the collision mesh of this link (if they exist) More...

Ogre::SceneNode *	collision_node_
	The scene node the collision meshes are attached to. More...

Ogre::MaterialPtr	color_material_

Ogre::MaterialPtr	default_material_

std::string	default_material_name_

bool	is_selectable_

std::string	joint_name_

float	material_alpha_

unsigned char	material_mode_flags_

M_SubEntityToMaterial	materials_

bool	only_render_depth_

float	robot_alpha_
	Alpha value from top-level robot alpha Property (set via setRobotAlpha()). More...

RobotLinkSelectionHandlerPtr	selection_handler_

Ogre::RibbonTrail *	trail_

std::vector< Ogre::Entity * >	visual_meshes_
	The entities representing the visual mesh of this link (if they exist) More...

Ogre::SceneNode *	visual_node_
	The scene node the visual meshes are attached to. More...

Friends
class	RobotLinkSelectionHandler

Detailed Description

Contains any data we need from a link in the robot.

Definition at line 84 of file robot_link.h.

Member Typedef Documentation

◆ M_SubEntityToMaterial

typedef std::map<Ogre::SubEntity*, Ogre::MaterialPtr> rviz::RobotLink::M_SubEntityToMaterial

private

Definition at line 231 of file robot_link.h.

Member Enumeration Documentation

◆ MaterialMode

enum rviz::RobotLink::MaterialMode

private

Enumerator
ORIGINAL
COLOR
ERROR

Definition at line 88 of file robot_link.h.

Constructor & Destructor Documentation

◆ RobotLink()

rviz::RobotLink::RobotLink	(	Robot *	robot,
		const urdf::LinkConstSharedPtr &	link,
		const std::string &	parent_joint_name,
		bool	visual,
		bool	collision
	)

Definition at line 156 of file robot_link.cpp.

◆ ~RobotLink()

rviz::RobotLink::~RobotLink ( )

override

Definition at line 299 of file robot_link.cpp.

Member Function Documentation

◆ addError()

void rviz::RobotLink::addError	(	const char *	format,
			...
	)

private

Definition at line 325 of file robot_link.cpp.

◆ createCollision()

void rviz::RobotLink::createCollision ( const urdf::LinkConstSharedPtr & link )

private

Definition at line 679 of file robot_link.cpp.

◆ createEntityForGeometryElement()

void rviz::RobotLink::createEntityForGeometryElement	(	const urdf::LinkConstSharedPtr &	link,
		const urdf::Geometry &	geom,
		const urdf::MaterialSharedPtr &	material,
		const urdf::Pose &	origin,
		Ogre::SceneNode *	scene_node,
		Ogre::Entity *&	entity
	)

private

Definition at line 547 of file robot_link.cpp.

◆ createSelection()

void rviz::RobotLink::createSelection ( )

private

Definition at line 799 of file robot_link.cpp.

◆ createVisual()

void rviz::RobotLink::createVisual ( const urdf::LinkConstSharedPtr & link )

private

Definition at line 739 of file robot_link.cpp.

◆ expandDetails()

void rviz::RobotLink::expandDetails ( bool expand )

Definition at line 1027 of file robot_link.cpp.

◆ getChildJointNames()

const std::vector<std::string>& rviz::RobotLink::getChildJointNames ( ) const

inline

Definition at line 119 of file robot_link.h.

◆ getCollisionNode()

Ogre::SceneNode* rviz::RobotLink::getCollisionNode ( ) const

inline

Definition at line 131 of file robot_link.h.

◆ getEnabled()

bool rviz::RobotLink::getEnabled ( ) const

private

Definition at line 349 of file robot_link.cpp.

◆ getGeometryErrors()

const std::string & rviz::RobotLink::getGeometryErrors ( ) const

Definition at line 339 of file robot_link.cpp.

◆ getLinkProperty()

Property* rviz::RobotLink::getLinkProperty ( ) const

inline

Definition at line 123 of file robot_link.h.

◆ getMaterialForLink()

Ogre::MaterialPtr rviz::RobotLink::getMaterialForLink	(	const urdf::LinkConstSharedPtr &	link,
		urdf::MaterialConstSharedPtr	material
	)

private

Definition at line 460 of file robot_link.cpp.

◆ getName()

const std::string& rviz::RobotLink::getName ( ) const

inline

Definition at line 111 of file robot_link.h.

◆ getOnlyRenderDepth()

bool rviz::RobotLink::getOnlyRenderDepth ( ) const

inline

Definition at line 169 of file robot_link.h.

◆ getOrientation()

Ogre::Quaternion rviz::RobotLink::getOrientation ( )

Definition at line 978 of file robot_link.cpp.

◆ getParentJointName()

const std::string& rviz::RobotLink::getParentJointName ( ) const

inline

Definition at line 115 of file robot_link.h.

◆ getPosition()

Ogre::Vector3 rviz::RobotLink::getPosition ( )

Definition at line 973 of file robot_link.cpp.

◆ getRobot()

Robot* rviz::RobotLink::getRobot ( ) const

inline

Definition at line 135 of file robot_link.h.

◆ getSelectable()

bool rviz::RobotLink::getSelectable ( )

Definition at line 959 of file robot_link.cpp.

◆ getVisualNode()

Ogre::SceneNode* rviz::RobotLink::getVisualNode ( ) const

inline

Definition at line 127 of file robot_link.h.

◆ hasGeometry()

bool rviz::RobotLink::hasGeometry ( ) const

Definition at line 344 of file robot_link.cpp.

◆ hideSubProperties()

void rviz::RobotLink::hideSubProperties ( bool hide )

virtual

Definition at line 964 of file robot_link.cpp.

◆ setColor()

void rviz::RobotLink::setColor	(	float	red,
		float	green,
		float	blue
	)

Definition at line 935 of file robot_link.cpp.

◆ setMaterialMode()

void rviz::RobotLink::setMaterialMode ( unsigned char mode_flags )

private

Definition at line 911 of file robot_link.cpp.

◆ setOnlyRenderDepth()

void rviz::RobotLink::setOnlyRenderDepth ( bool onlyRenderDepth )

Definition at line 380 of file robot_link.cpp.

◆ setParentProperty()

void rviz::RobotLink::setParentProperty ( Property * new_parent )

Definition at line 983 of file robot_link.cpp.

◆ setRenderQueueGroup()

void rviz::RobotLink::setRenderQueueGroup ( Ogre::uint8 group )

private

Definition at line 362 of file robot_link.cpp.

◆ setRobotAlpha()

void rviz::RobotLink::setRobotAlpha ( float a )

virtual

Definition at line 356 of file robot_link.cpp.

◆ setSelectable()

bool rviz::RobotLink::setSelectable ( bool selectable )

set whether the link is selectable. If false objects behind/inside the link can be selected/manipulated. Returns old value.

Definition at line 952 of file robot_link.cpp.

◆ setToErrorMaterial()

void rviz::RobotLink::setToErrorMaterial ( )

Definition at line 901 of file robot_link.cpp.

◆ setToNormalMaterial()

void rviz::RobotLink::setToNormalMaterial ( )

Definition at line 906 of file robot_link.cpp.

◆ setTransforms()

void rviz::RobotLink::setTransforms	(	const Ogre::Vector3 &	visual_position,
		const Ogre::Quaternion &	visual_orientation,
		const Ogre::Vector3 &	collision_position,
		const Ogre::Quaternion &	collision_orientation
	)

virtual

Definition at line 874 of file robot_link.cpp.

◆ unsetColor()

void rviz::RobotLink::unsetColor ( )

Definition at line 947 of file robot_link.cpp.

◆ updateAlpha

void rviz::RobotLink::updateAlpha ( )

privateslot

Definition at line 387 of file robot_link.cpp.

◆ updateAxes

void rviz::RobotLink::updateAxes ( )

privateslot

Definition at line 848 of file robot_link.cpp.

◆ updateTrail

void rviz::RobotLink::updateTrail ( )

privateslot

Definition at line 812 of file robot_link.cpp.

◆ updateVisibility

void rviz::RobotLink::updateVisibility ( )

slot

Update the visibility of the link elements: visual mesh, collision mesh, trail, and axes.

Called by Robot when changing visual and collision visibilities, since each link may be enabled or disabled.

Definition at line 436 of file robot_link.cpp.

◆ useDetailProperty()

void rviz::RobotLink::useDetailProperty ( bool use_detail )

Definition at line 999 of file robot_link.cpp.

Friends And Related Function Documentation

◆ RobotLinkSelectionHandler

friend class RobotLinkSelectionHandler

friend

Definition at line 263 of file robot_link.h.

Member Data Documentation

◆ alpha_property_

FloatProperty* rviz::RobotLink::alpha_property_

protected

Definition at line 228 of file robot_link.h.

◆ axes_

Axes* rviz::RobotLink::axes_

private

Definition at line 246 of file robot_link.h.

◆ axes_property_

Property* rviz::RobotLink::axes_property_

protected

Definition at line 227 of file robot_link.h.

◆ child_joint_names_

std::vector<std::string> rviz::RobotLink::child_joint_names_

protected

Definition at line 218 of file robot_link.h.

◆ collision_meshes_

std::vector<Ogre::Entity*> rviz::RobotLink::collision_meshes_

private

The entities representing the collision mesh of this link (if they exist)

Definition at line 239 of file robot_link.h.

◆ collision_node_

Ogre::SceneNode* rviz::RobotLink::collision_node_

private

The scene node the collision meshes are attached to.

Definition at line 242 of file robot_link.h.

◆ color_material_

Ogre::MaterialPtr rviz::RobotLink::color_material_

private

Definition at line 260 of file robot_link.h.

◆ context_

DisplayContext* rviz::RobotLink::context_

protected

Definition at line 214 of file robot_link.h.

◆ default_material_

Ogre::MaterialPtr rviz::RobotLink::default_material_

private

Definition at line 233 of file robot_link.h.

◆ default_material_name_

std::string rviz::RobotLink::default_material_name_

private

Definition at line 234 of file robot_link.h.

◆ details_

Property* rviz::RobotLink::details_

protected

Definition at line 223 of file robot_link.h.

◆ is_selectable_

bool rviz::RobotLink::is_selectable_

private

Definition at line 253 of file robot_link.h.

◆ joint_name_

std::string rviz::RobotLink::joint_name_

private

Definition at line 256 of file robot_link.h.

◆ link_property_

Property* rviz::RobotLink::link_property_

protected

Definition at line 222 of file robot_link.h.

◆ material_alpha_

float rviz::RobotLink::material_alpha_

private

If material is not a texture, this saves the alpha value set in the URDF, otherwise is 1.0.

Definition at line 248 of file robot_link.h.

◆ material_mode_flags_

unsigned char rviz::RobotLink::material_mode_flags_

private

Definition at line 261 of file robot_link.h.

◆ materials_

M_SubEntityToMaterial rviz::RobotLink::materials_

private

Definition at line 232 of file robot_link.h.

◆ name_

std::string rviz::RobotLink::name_

protected

Name of this link.

Definition at line 216 of file robot_link.h.

◆ only_render_depth_

bool rviz::RobotLink::only_render_depth_

private

Definition at line 252 of file robot_link.h.

◆ orientation_property_

QuaternionProperty* rviz::RobotLink::orientation_property_

protected

Definition at line 225 of file robot_link.h.

◆ parent_joint_name_

std::string rviz::RobotLink::parent_joint_name_

protected

Definition at line 217 of file robot_link.h.

◆ position_property_

VectorProperty* rviz::RobotLink::position_property_

protected

Definition at line 224 of file robot_link.h.

◆ robot_

Robot* rviz::RobotLink::robot_

protected

Definition at line 212 of file robot_link.h.

◆ robot_alpha_

float rviz::RobotLink::robot_alpha_

private

Alpha value from top-level robot alpha Property (set via setRobotAlpha()).

Definition at line 250 of file robot_link.h.

◆ scene_manager_

Ogre::SceneManager* rviz::RobotLink::scene_manager_

protected

Definition at line 213 of file robot_link.h.

◆ selection_handler_

RobotLinkSelectionHandlerPtr rviz::RobotLink::selection_handler_

private

Definition at line 258 of file robot_link.h.

◆ trail_

Ogre::RibbonTrail* rviz::RobotLink::trail_

private

Definition at line 244 of file robot_link.h.

◆ trail_property_

Property* rviz::RobotLink::trail_property_

protected

Definition at line 226 of file robot_link.h.

◆ visual_meshes_

std::vector<Ogre::Entity*> rviz::RobotLink::visual_meshes_

private

The entities representing the visual mesh of this link (if they exist)

Definition at line 237 of file robot_link.h.

◆ visual_node_

Ogre::SceneNode* rviz::RobotLink::visual_node_

private

The scene node the visual meshes are attached to.

Definition at line 241 of file robot_link.h.

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

Public Slots

Public Member Functions

Protected Attributes

Private Types

Private Slots

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ M_SubEntityToMaterial

Member Enumeration Documentation

◆ MaterialMode

Constructor & Destructor Documentation

◆ RobotLink()

◆ ~RobotLink()

Member Function Documentation

◆ addError()

◆ createCollision()

◆ createEntityForGeometryElement()

◆ createSelection()

◆ createVisual()

◆ expandDetails()

◆ getChildJointNames()

◆ getCollisionNode()

◆ getEnabled()

◆ getGeometryErrors()

◆ getLinkProperty()

◆ getMaterialForLink()

◆ getName()

◆ getOnlyRenderDepth()

◆ getOrientation()

◆ getParentJointName()

◆ getPosition()

◆ getRobot()

◆ getSelectable()

◆ getVisualNode()

◆ hasGeometry()

◆ hideSubProperties()

◆ setColor()

◆ setMaterialMode()

◆ setOnlyRenderDepth()

◆ setParentProperty()

◆ setRenderQueueGroup()

◆ setRobotAlpha()

◆ setSelectable()

◆ setToErrorMaterial()

◆ setToNormalMaterial()

◆ setTransforms()

◆ unsetColor()

◆ updateAlpha

◆ updateAxes

◆ updateTrail

◆ updateVisibility

◆ useDetailProperty()

Friends And Related Function Documentation

◆ RobotLinkSelectionHandler

Member Data Documentation

◆ alpha_property_

◆ axes_

◆ axes_property_

◆ child_joint_names_

◆ collision_meshes_

◆ collision_node_

◆ color_material_

◆ context_

◆ default_material_

◆ default_material_name_

◆ details_

◆ is_selectable_

◆ joint_name_

◆ link_property_

◆ material_alpha_

◆ material_mode_flags_

◆ materials_

◆ name_

◆ only_render_depth_

◆ orientation_property_

◆ parent_joint_name_

◆ position_property_