Displays a visual representation of the TF hierarchy. More...

#include <tf_display.h>

Inheritance diagram for rviz::TFDisplay:

Public Member Functions
	TFDisplay ()

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

	~TFDisplay () 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...

virtual void	setTopic (const QString &topic, const QString &datatype)
	Set the ROS topic to listen to for this display. 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 Member Functions
void	fixedFrameChanged () override
	Called by setFixedFrame(). Override to respond to changes to fixed_frame_. More...

void	load (const Config &config) override
	Load the value of this property and/or its children from the given Config reference. More...

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...

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...

Private Types
typedef std::map< std::string, bool >	M_EnabledState

typedef std::map< std::string, FrameInfo * >	M_FrameInfo

Private Slots
void	allEnabledChanged ()

void	updateShowArrows ()

void	updateShowAxes ()

void	updateShowNames ()

Private Member Functions
void	clear ()

FrameInfo *	createFrame (const std::string &frame)

M_FrameInfo::iterator	deleteFrame (M_FrameInfo::iterator it, bool delete_properties)

FrameInfo *	getFrameInfo (const std::string &frame)

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...

void	updateFrame (FrameInfo *frame)

void	updateFrames ()

Private Attributes
BoolProperty *	all_enabled_property_

Ogre::SceneNode *	arrows_node_

Ogre::SceneNode *	axes_node_

bool	changing_single_frame_enabled_state_

RegexFilterProperty *	filter_blacklist_property_

RegexFilterProperty *	filter_whitelist_property_

M_EnabledState	frame_config_enabled_state_

FloatProperty *	frame_timeout_property_

M_FrameInfo	frames_

Property *	frames_category_

Ogre::SceneNode *	names_node_

Ogre::SceneNode *	root_node_

FloatProperty *	scale_property_

BoolProperty *	show_arrows_property_

BoolProperty *	show_axes_property_

BoolProperty *	show_names_property_

Property *	tree_category_

FloatProperty *	update_rate_property_

float	update_timer_

Friends
class	FrameInfo

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)

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...

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...

Detailed Description

Displays a visual representation of the TF hierarchy.

Definition at line 65 of file tf_display.h.

Member Typedef Documentation

◆ M_EnabledState

typedef std::map<std::string, bool> rviz::TFDisplay::M_EnabledState

private

Definition at line 110 of file tf_display.h.

◆ M_FrameInfo

typedef std::map<std::string, FrameInfo*> rviz::TFDisplay::M_FrameInfo

private

Definition at line 88 of file tf_display.h.

Constructor & Destructor Documentation

◆ TFDisplay()

rviz::TFDisplay::TFDisplay ( )

Definition at line 240 of file tf_display.cpp.

◆ ~TFDisplay()

rviz::TFDisplay::~TFDisplay ( )

override

Definition at line 284 of file tf_display.cpp.

Member Function Documentation

◆ allEnabledChanged

void rviz::TFDisplay::allEnabledChanged ( )

privateslot

Definition at line 400 of file tf_display.cpp.

◆ clear()

void rviz::TFDisplay::clear ( )

private

Definition at line 326 of file tf_display.cpp.

◆ createFrame()

FrameInfo * rviz::TFDisplay::createFrame ( const std::string & frame )

private

Definition at line 498 of file tf_display.cpp.

◆ deleteFrame()

TFDisplay::M_FrameInfo::iterator rviz::TFDisplay::deleteFrame	(	M_FrameInfo::iterator	it,
		bool	delete_properties
	)

private

Definition at line 788 of file tf_display.cpp.

◆ fixedFrameChanged()

void rviz::TFDisplay::fixedFrameChanged ( )

overrideprotectedvirtual

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

Reimplemented from rviz::Display.

Definition at line 813 of file tf_display.cpp.

◆ getFrameInfo()

FrameInfo * rviz::TFDisplay::getFrameInfo ( const std::string & frame )

private

Definition at line 430 of file tf_display.cpp.

◆ load()

void rviz::TFDisplay::load ( const Config & config )

overrideprotectedvirtual

Load the value of this property and/or its children from the given Config reference.

Reimplemented from rviz::Property.

Definition at line 305 of file tf_display.cpp.

◆ onDisable()

void rviz::TFDisplay::onDisable ( )

overrideprivatevirtual

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

Reimplemented from rviz::Display.

Definition at line 352 of file tf_display.cpp.

◆ onEnable()

void rviz::TFDisplay::onEnable ( )

overrideprivatevirtual

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

Reimplemented from rviz::Display.

Definition at line 343 of file tf_display.cpp.

◆ onInitialize()

void rviz::TFDisplay::onInitialize ( )

overrideprotectedvirtual

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 294 of file tf_display.cpp.

◆ reset()

void rviz::TFDisplay::reset ( )

overrideprotectedvirtual

Called to tell the display to clear its state.

Reimplemented from rviz::Display.

Definition at line 818 of file tf_display.cpp.

◆ update()

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

overridevirtual

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 418 of file tf_display.cpp.

◆ updateFrame()

void rviz::TFDisplay::updateFrame ( FrameInfo * frame )

private

Definition at line 571 of file tf_display.cpp.

◆ updateFrames()

void rviz::TFDisplay::updateFrames ( )

private

Definition at line 441 of file tf_display.cpp.

◆ updateShowArrows

void rviz::TFDisplay::updateShowArrows ( )

privateslot

Definition at line 386 of file tf_display.cpp.

◆ updateShowAxes

void rviz::TFDisplay::updateShowAxes ( )

privateslot

Definition at line 372 of file tf_display.cpp.

◆ updateShowNames

void rviz::TFDisplay::updateShowNames ( )

privateslot

Definition at line 358 of file tf_display.cpp.

Friends And Related Function Documentation

◆ FrameInfo

friend class FrameInfo

friend

Definition at line 129 of file tf_display.h.

Member Data Documentation

◆ all_enabled_property_

BoolProperty* rviz::TFDisplay::all_enabled_property_

private

Definition at line 120 of file tf_display.h.

◆ arrows_node_

Ogre::SceneNode* rviz::TFDisplay::arrows_node_

private

Definition at line 105 of file tf_display.h.

◆ axes_node_

Ogre::SceneNode* rviz::TFDisplay::axes_node_

private

Definition at line 106 of file tf_display.h.

◆ changing_single_frame_enabled_state_

bool rviz::TFDisplay::changing_single_frame_enabled_state_

private

Definition at line 128 of file tf_display.h.

◆ filter_blacklist_property_

RegexFilterProperty* rviz::TFDisplay::filter_blacklist_property_

private

Definition at line 124 of file tf_display.h.

◆ filter_whitelist_property_

RegexFilterProperty* rviz::TFDisplay::filter_whitelist_property_

private

Definition at line 123 of file tf_display.h.

◆ frame_config_enabled_state_

M_EnabledState rviz::TFDisplay::frame_config_enabled_state_

private

Definition at line 111 of file tf_display.h.

◆ frame_timeout_property_

FloatProperty* rviz::TFDisplay::frame_timeout_property_

private

Definition at line 119 of file tf_display.h.

◆ frames_

M_FrameInfo rviz::TFDisplay::frames_

private

Definition at line 108 of file tf_display.h.

◆ frames_category_

Property* rviz::TFDisplay::frames_category_

private

Definition at line 125 of file tf_display.h.

◆ names_node_

Ogre::SceneNode* rviz::TFDisplay::names_node_

private

Definition at line 104 of file tf_display.h.

◆ root_node_

Ogre::SceneNode* rviz::TFDisplay::root_node_

private

Definition at line 103 of file tf_display.h.

◆ scale_property_

FloatProperty* rviz::TFDisplay::scale_property_

private

Definition at line 122 of file tf_display.h.

◆ show_arrows_property_

BoolProperty* rviz::TFDisplay::show_arrows_property_

private

Definition at line 116 of file tf_display.h.

◆ show_axes_property_

BoolProperty* rviz::TFDisplay::show_axes_property_

private

Definition at line 117 of file tf_display.h.

◆ show_names_property_

BoolProperty* rviz::TFDisplay::show_names_property_

private

Definition at line 115 of file tf_display.h.

◆ tree_category_

Property* rviz::TFDisplay::tree_category_

private

Definition at line 126 of file tf_display.h.

◆ update_rate_property_

FloatProperty* rviz::TFDisplay::update_rate_property_

private

Definition at line 118 of file tf_display.h.

◆ update_timer_

float rviz::TFDisplay::update_timer_

private

Definition at line 113 of file tf_display.h.

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

Public Member Functions

Protected Member Functions

Private Types

Private Slots

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ M_EnabledState

◆ M_FrameInfo

Constructor & Destructor Documentation

◆ TFDisplay()

◆ ~TFDisplay()

Member Function Documentation

◆ allEnabledChanged

◆ clear()

◆ createFrame()

◆ deleteFrame()

◆ fixedFrameChanged()

◆ getFrameInfo()

◆ load()

◆ onDisable()

◆ onEnable()

◆ onInitialize()

◆ reset()

◆ update()

◆ updateFrame()

◆ updateFrames()

◆ updateShowArrows

◆ updateShowAxes

◆ updateShowNames

Friends And Related Function Documentation

◆ FrameInfo

Member Data Documentation

◆ all_enabled_property_

◆ arrows_node_

◆ axes_node_

◆ changing_single_frame_enabled_state_

◆ filter_blacklist_property_

◆ filter_whitelist_property_

◆ frame_config_enabled_state_

◆ frame_timeout_property_

◆ frames_

◆ frames_category_

◆ names_node_

◆ root_node_

◆ scale_property_

◆ show_arrows_property_

◆ show_axes_property_

◆ show_names_property_

◆ tree_category_

◆ update_rate_property_

◆ update_timer_