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

#include <aerialmap_display.h>

Inheritance diagram for rviz::AerialMapDisplay:

Classes
struct	MapObject

Public Member Functions
	AerialMapDisplay ()

void	reset () override

void	update (float, float) override

	~AerialMapDisplay () override

Public Member Functions inherited from rviz::Display
virtual void	deleteStatus (const QString &name)

void	deleteStatusStd (const std::string &name)

	Display ()

void	emitTimeSignal (ros::Time time)

QWidget *	getAssociatedWidget () const

PanelDockWidget *	getAssociatedWidgetPanel ()

virtual QString	getClassId () const

Ogre::SceneNode *	getSceneNode () const

QVariant	getViewData (int column, int role) const override

Qt::ItemFlags	getViewFlags (int column) const override

uint32_t	getVisibilityBits ()

void	initialize (DisplayContext *context)

bool	isEnabled () const

void	load (const Config &config) override

void	save (Config config) const override

void	setAssociatedWidget (QWidget *widget)

virtual void	setClassId (const QString &class_id)

void	setFixedFrame (const QString &fixed_frame)

void	setName (const QString &name) override

virtual void	setStatus (StatusProperty::Level level, const QString &name, const QString &text)

void	setStatusStd (StatusProperty::Level level, const std::string &name, const std::string &text)

virtual void	setTopic (const QString &topic, const QString &datatype)

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

bool	getDisableChildrenIfFalse ()

void	setDisableChildrenIfFalse (bool disable)

	~BoolProperty () override

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

Property *	childAt (int index) const

virtual Property *	childAtUnchecked (int index) const

virtual void	collapse ()

bool	contains (Property *possible_child) const

virtual QWidget *	createEditor (QWidget *parent, const QStyleOptionViewItem &option)

virtual void	expand ()

virtual QString	getDescription () const

virtual bool	getHidden () const

virtual QIcon	getIcon () const

PropertyTreeModel *	getModel () const

virtual QString	getName () const

std::string	getNameStd () const

Property *	getParent () const

virtual bool	getReadOnly ()

virtual QVariant	getValue () const

void	hide ()

void	insertChildSorted (Property *child)

bool	isAncestorOf (Property *possible_child) const

virtual void	moveChild (int from_index, int to_index)

virtual int	numChildren () const

virtual bool	paint (QPainter *painter, const QStyleOptionViewItem &option) const

	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)

virtual void	removeChildren (int start_index=0, int count=-1)

int	rowNumberInParent () const

virtual void	setDescription (const QString &description)

virtual void	setHidden (bool hidden)

virtual void	setIcon (const QIcon &icon)

void	setModel (PropertyTreeModel *model)

void	setParent (Property *new_parent)

virtual void	setReadOnly (bool read_only)

void	setShouldBeSaved (bool save)

virtual bool	setValue (const QVariant &new_value)

bool	shouldBeSaved () const

void	show ()

virtual Property *	subProp (const QString &sub_name)

Property *	takeChild (Property *child)

virtual Property *	takeChildAt (int index)

	~Property () override

Protected Slots
void	updateAlpha ()

void	updateBlocks ()

void	updateDrawUnder ()

void	updateMapFrame ()

void	updateMapTransformType ()

void	updateTileUrl ()

void	updateTopic ()

void	updateUtmFrame ()

void	updateUtmZone ()

void	updateXYReference ()

void	updateZOffset ()

void	updateZoom ()

void	updateZReference ()

Protected Member Functions
void	assembleScene ()

void	checkRequestErrorRate ()

void	clearAll ()

void	createTileObjects ()

void	destroyTileObjects ()

void	navFixCallback (sensor_msgs::NavSatFixConstPtr const &msg)

void	onDisable () override

void	onEnable () override

void	onInitialize () override

void	requestTileTextures ()

virtual void	subscribe ()

void	tfReferencePeriodicUpdate (const ros::TimerEvent &)

void	transformMapTileToFixedFrame ()

void	transformTileToMapFrame ()

void	transformTileToReferenceFrame ()

void	transformTileToUtmFrame ()

void	triggerSceneAssembly ()

virtual void	unsubscribe ()

bool	updateCenterTile (sensor_msgs::NavSatFixConstPtr const &msg)

Protected Member Functions inherited from rviz::Display
virtual void	clearStatuses ()

virtual void	fixedFrameChanged ()

bool	initialized () const

Protected Member Functions inherited from rviz::Property
void	loadValue (const Config &config)

Protected Attributes
float	alpha_
	the alpha value of the tile's material More...

FloatProperty *	alpha_property_

int	blocks_
	the number of tiles loaded in each direction around the center tile More...

IntProperty *	blocks_property_

boost::optional< TileId >	center_tile_ { boost::none }
	Last request()ed tile id (which is the center tile) More...

geometry_msgs::PoseStamped	center_tile_pose_
	translation of the center-tile w.r.t. the map/utm frame More...

bool	dirty_ { false }
	whether we need to re-query and re-assemble the tiles More...

bool	draw_under_
	determines which render queue to use More...

Property *	draw_under_property_

std::string	map_frame_
	the map frame, rigidly attached to the world with ENU convention - see https://www.ros.org/reps/rep-0105.html#map More...

TfFrameProperty *	map_frame_property_

MapTransformType	map_transform_type_
	Whether the tiles should be transformed via an intermediate map frame, or directly via a UTM frame. More...

EnumProperty *	map_transform_type_property_

ros::Subscriber	navsat_fix_sub_
	the subscriber for the NavSatFix topic More...

std::vector< MapObject >	objects_
	the tile scene objects More...

boost::optional< WGSCoordinate >	ref_coords_
	lat/lon of the reference position that lead to updating the tiles More...

sensor_msgs::NavSatFixConstPtr	ref_fix_ { nullptr }
	the last NavSatFix message that lead to updating the tiles More...

std::shared_ptr< tf2_ros::Buffer const >	tf_buffer_ { nullptr }
	buffer for tf lookups not related to fixed-frame More...

ros::Duration	tf_reference_update_duration_
	timeout for periodic TF_FRAME reference update More...

ros::Timer	tf_reference_update_timer_
	timer that updates the reference position when using TF_FRAME references More...

TileCacheDelay< OgreTile >	tile_cache_
	caches tile images, hashed by their fetch URL More...

std::string	tile_url_
	the URL of the tile server to use More...

StringProperty *	tile_url_property_

RosTopicProperty *	topic_property_

std::string	utm_frame_
	the utm frame, representing a UTM coordinate frame in a chosen zone More...

TfFrameProperty *	utm_frame_property_

int	utm_zone_
	UTM zone to work in. More...

IntProperty *	utm_zone_property_

std::string	xy_reference_frame_
	XY position reference TF frame (if TF_FRAME type is used) More...

PositionReferenceProperty *	xy_reference_property_

PositionReferenceType	xy_reference_type_
	Type of XY position reference. More...

double	z_offset_
	Offset of the tiles in Z axis (relative to map/utm) More...

FloatProperty *	z_offset_property_

std::string	z_reference_frame_
	Z position reference TF frame (if TF_FRAME type is used) More...

PositionReferenceProperty *	z_reference_property_

PositionReferenceType	z_reference_type_
	Type of Z position reference. More...

int	zoom_
	the zoom to use (Mercator) More...

IntProperty *	zoom_property_

Protected Attributes inherited from rviz::Display
DisplayContext *	context_

QString	fixed_frame_

Ogre::SceneManager *	scene_manager_

Ogre::SceneNode *	scene_node_

ros::NodeHandle	threaded_nh_

ros::NodeHandle	update_nh_

Protected Attributes inherited from rviz::Property
bool	child_indexes_valid_

QIcon	icon_

PropertyTreeModel *	model_

QVariant	value_

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

void	queueRender ()

void	setEnabled (bool enabled)

void	setIcon (const QIcon &icon) override

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 ()

void	changed ()

void	childListChanged (Property *this_property)

Detailed Description

Displays a satellite map along the XY plane.

Definition at line 66 of file aerialmap_display.h.

Constructor & Destructor Documentation

◆ AerialMapDisplay()

rviz::AerialMapDisplay::AerialMapDisplay ( )

Definition at line 65 of file aerialmap_display.cpp.

◆ ~AerialMapDisplay()

rviz::AerialMapDisplay::~AerialMapDisplay ( )

override

Definition at line 160 of file aerialmap_display.cpp.

Member Function Documentation

◆ assembleScene()

void rviz::AerialMapDisplay::assembleScene ( )

protected

Generates the tile's render geometry and applies the requested textures

Definition at line 826 of file aerialmap_display.cpp.

◆ checkRequestErrorRate()

void rviz::AerialMapDisplay::checkRequestErrorRate ( )

protected

Checks how may tiles were loaded successfully, and sets the status accordingly.

Definition at line 801 of file aerialmap_display.cpp.

◆ clearAll()

void rviz::AerialMapDisplay::clearAll ( )

protected

Destroys the scene-object and all children and their textures, along with the center-tile memory

Definition at line 601 of file aerialmap_display.cpp.

◆ createTileObjects()

void rviz::AerialMapDisplay::createTileObjects ( )

protected

Creates the tile scene-objects and their materials

Definition at line 628 of file aerialmap_display.cpp.

◆ destroyTileObjects()

void rviz::AerialMapDisplay::destroyTileObjects ( )

protected

Destroys the tile scene-objects

Definition at line 611 of file aerialmap_display.cpp.

◆ navFixCallback()

void rviz::AerialMapDisplay::navFixCallback ( sensor_msgs::NavSatFixConstPtr const & msg )

protected

GPS topic callback

Definition at line 678 of file aerialmap_display.cpp.

◆ onDisable()

void rviz::AerialMapDisplay::onDisable ( )

overrideprotectedvirtual

Reimplemented from rviz::Display.

Definition at line 182 of file aerialmap_display.cpp.

◆ onEnable()

void rviz::AerialMapDisplay::onEnable ( )

overrideprotectedvirtual

Reimplemented from rviz::Display.

Definition at line 176 of file aerialmap_display.cpp.

◆ onInitialize()

void rviz::AerialMapDisplay::onInitialize ( )

overrideprotectedvirtual

Reimplemented from rviz::Display.

Definition at line 166 of file aerialmap_display.cpp.

◆ requestTileTextures()

void rviz::AerialMapDisplay::requestTileTextures ( )

protected

Load images to cache (non-blocking)

Definition at line 769 of file aerialmap_display.cpp.

◆ reset()

void rviz::AerialMapDisplay::reset ( )

overridevirtual

Reimplemented from rviz::Display.

Definition at line 1248 of file aerialmap_display.cpp.

◆ subscribe()

void rviz::AerialMapDisplay::subscribe ( )

protectedvirtual

Definition at line 188 of file aerialmap_display.cpp.

◆ tfReferencePeriodicUpdate()

void rviz::AerialMapDisplay::tfReferencePeriodicUpdate ( const ros::TimerEvent & )

protected

Called periodically to update TF_FRAME position references.

Definition at line 1150 of file aerialmap_display.cpp.

◆ transformMapTileToFixedFrame()

void rviz::AerialMapDisplay::transformMapTileToFixedFrame ( )

protected

Transforms the tile objects into the fixed frame.

Definition at line 1206 of file aerialmap_display.cpp.

◆ transformTileToMapFrame()

void rviz::AerialMapDisplay::transformTileToMapFrame ( )

protected

Transforms the tile objects into the map frame.

Definition at line 991 of file aerialmap_display.cpp.

◆ transformTileToReferenceFrame()

void rviz::AerialMapDisplay::transformTileToReferenceFrame ( )

protected

Transforms the tile objects into the reference (map/utm) frame.

Definition at line 978 of file aerialmap_display.cpp.

◆ transformTileToUtmFrame()

void rviz::AerialMapDisplay::transformTileToUtmFrame ( )

protected

Transforms the tile objects into the UTM frame.

Definition at line 1061 of file aerialmap_display.cpp.

◆ triggerSceneAssembly()

void rviz::AerialMapDisplay::triggerSceneAssembly ( )

protected

Triggers to (re-) assemble the scene

Definition at line 820 of file aerialmap_display.cpp.

◆ unsubscribe()

void rviz::AerialMapDisplay::unsubscribe ( )

protectedvirtual

Definition at line 212 of file aerialmap_display.cpp.

◆ update()

void rviz::AerialMapDisplay::update	(	float	,
		float
	)

overridevirtual

Reimplemented from rviz::Display.

Definition at line 665 of file aerialmap_display.cpp.

◆ updateAlpha

void rviz::AerialMapDisplay::updateAlpha ( )

protectedslot

Definition at line 217 of file aerialmap_display.cpp.

◆ updateBlocks

void rviz::AerialMapDisplay::updateBlocks ( )

protectedslot

Definition at line 336 of file aerialmap_display.cpp.

◆ updateCenterTile()

bool rviz::AerialMapDisplay::updateCenterTile ( sensor_msgs::NavSatFixConstPtr const & msg )

protected

Triggers texture update if the center-tile changed w.r.t. the current one. Returns true if the tile has been actually updated.

Definition at line 688 of file aerialmap_display.cpp.

◆ updateDrawUnder

void rviz::AerialMapDisplay::updateDrawUnder ( )

protectedslot

Definition at line 243 of file aerialmap_display.cpp.

◆ updateMapFrame

void rviz::AerialMapDisplay::updateMapFrame ( )

protectedslot

Definition at line 417 of file aerialmap_display.cpp.

◆ updateMapTransformType

void rviz::AerialMapDisplay::updateMapTransformType ( )

protectedslot

Definition at line 378 of file aerialmap_display.cpp.

◆ updateTileUrl

void rviz::AerialMapDisplay::updateTileUrl ( )

protectedslot

Definition at line 269 of file aerialmap_display.cpp.

◆ updateTopic

void rviz::AerialMapDisplay::updateTopic ( )

protectedslot

Definition at line 363 of file aerialmap_display.cpp.

◆ updateUtmFrame

void rviz::AerialMapDisplay::updateUtmFrame ( )

protectedslot

Definition at line 446 of file aerialmap_display.cpp.

◆ updateUtmZone

void rviz::AerialMapDisplay::updateUtmZone ( )

protectedslot

Definition at line 475 of file aerialmap_display.cpp.

◆ updateXYReference

void rviz::AerialMapDisplay::updateXYReference ( )

protectedslot

Definition at line 504 of file aerialmap_display.cpp.

◆ updateZOffset

void rviz::AerialMapDisplay::updateZOffset ( )

protectedslot

Definition at line 594 of file aerialmap_display.cpp.

◆ updateZoom

void rviz::AerialMapDisplay::updateZoom ( )

protectedslot

Definition at line 306 of file aerialmap_display.cpp.

◆ updateZReference

void rviz::AerialMapDisplay::updateZReference ( )

protectedslot

Definition at line 554 of file aerialmap_display.cpp.

Member Data Documentation

◆ alpha_

float rviz::AerialMapDisplay::alpha_

protected

the alpha value of the tile's material

Definition at line 208 of file aerialmap_display.h.

◆ alpha_property_

FloatProperty* rviz::AerialMapDisplay::alpha_property_

protected

Definition at line 197 of file aerialmap_display.h.

◆ blocks_

int rviz::AerialMapDisplay::blocks_

protected

the number of tiles loaded in each direction around the center tile

Definition at line 216 of file aerialmap_display.h.

◆ blocks_property_

IntProperty* rviz::AerialMapDisplay::blocks_property_

protected

Definition at line 196 of file aerialmap_display.h.

◆ center_tile_

boost::optional<TileId> rviz::AerialMapDisplay::center_tile_ { boost::none }

protected

Last request()ed tile id (which is the center tile)

Definition at line 246 of file aerialmap_display.h.

◆ center_tile_pose_

geometry_msgs::PoseStamped rviz::AerialMapDisplay::center_tile_pose_

protected

translation of the center-tile w.r.t. the map/utm frame

Definition at line 248 of file aerialmap_display.h.

◆ dirty_

bool rviz::AerialMapDisplay::dirty_ { false }

protected

whether we need to re-query and re-assemble the tiles

Definition at line 238 of file aerialmap_display.h.

◆ draw_under_

bool rviz::AerialMapDisplay::draw_under_

protected

determines which render queue to use

Definition at line 210 of file aerialmap_display.h.

◆ draw_under_property_

Property* rviz::AerialMapDisplay::draw_under_property_

protected

Definition at line 198 of file aerialmap_display.h.

◆ map_frame_

std::string rviz::AerialMapDisplay::map_frame_

protected

the map frame, rigidly attached to the world with ENU convention - see https://www.ros.org/reps/rep-0105.html#map

Definition at line 220 of file aerialmap_display.h.

◆ map_frame_property_

TfFrameProperty* rviz::AerialMapDisplay::map_frame_property_

protected

Definition at line 200 of file aerialmap_display.h.

◆ map_transform_type_

MapTransformType rviz::AerialMapDisplay::map_transform_type_

protected

Whether the tiles should be transformed via an intermediate map frame, or directly via a UTM frame.

Definition at line 218 of file aerialmap_display.h.

◆ map_transform_type_property_

EnumProperty* rviz::AerialMapDisplay::map_transform_type_property_

protected

Definition at line 199 of file aerialmap_display.h.

◆ navsat_fix_sub_

ros::Subscriber rviz::AerialMapDisplay::navsat_fix_sub_

protected

the subscriber for the NavSatFix topic

Definition at line 190 of file aerialmap_display.h.

◆ objects_

std::vector<MapObject> rviz::AerialMapDisplay::objects_

protected

the tile scene objects

Definition at line 187 of file aerialmap_display.h.

◆ ref_coords_

boost::optional<WGSCoordinate> rviz::AerialMapDisplay::ref_coords_

protected

lat/lon of the reference position that lead to updating the tiles

Definition at line 242 of file aerialmap_display.h.

◆ ref_fix_

sensor_msgs::NavSatFixConstPtr rviz::AerialMapDisplay::ref_fix_ { nullptr }

protected

the last NavSatFix message that lead to updating the tiles

Definition at line 240 of file aerialmap_display.h.

◆ tf_buffer_

std::shared_ptr<tf2_ros::Buffer const> rviz::AerialMapDisplay::tf_buffer_ { nullptr }

protected

buffer for tf lookups not related to fixed-frame

Definition at line 251 of file aerialmap_display.h.

◆ tf_reference_update_duration_

ros::Duration rviz::AerialMapDisplay::tf_reference_update_duration_

protected

timeout for periodic TF_FRAME reference update

Definition at line 254 of file aerialmap_display.h.

◆ tf_reference_update_timer_

ros::Timer rviz::AerialMapDisplay::tf_reference_update_timer_

protected

timer that updates the reference position when using TF_FRAME references

Definition at line 256 of file aerialmap_display.h.

◆ tile_cache_

TileCacheDelay<OgreTile> rviz::AerialMapDisplay::tile_cache_

protected

caches tile images, hashed by their fetch URL

Definition at line 244 of file aerialmap_display.h.

◆ tile_url_

std::string rviz::AerialMapDisplay::tile_url_

protected

the URL of the tile server to use

Definition at line 212 of file aerialmap_display.h.

◆ tile_url_property_

StringProperty* rviz::AerialMapDisplay::tile_url_property_

protected

Definition at line 194 of file aerialmap_display.h.

◆ topic_property_

RosTopicProperty* rviz::AerialMapDisplay::topic_property_

protected

Definition at line 193 of file aerialmap_display.h.

◆ utm_frame_

std::string rviz::AerialMapDisplay::utm_frame_

protected

the utm frame, representing a UTM coordinate frame in a chosen zone

Definition at line 222 of file aerialmap_display.h.

◆ utm_frame_property_

TfFrameProperty* rviz::AerialMapDisplay::utm_frame_property_

protected

Definition at line 201 of file aerialmap_display.h.

◆ utm_zone_

int rviz::AerialMapDisplay::utm_zone_

protected

UTM zone to work in.

Definition at line 224 of file aerialmap_display.h.

◆ utm_zone_property_

IntProperty* rviz::AerialMapDisplay::utm_zone_property_

protected

Definition at line 202 of file aerialmap_display.h.

◆ xy_reference_frame_

std::string rviz::AerialMapDisplay::xy_reference_frame_

protected

XY position reference TF frame (if TF_FRAME type is used)

Definition at line 228 of file aerialmap_display.h.

◆ xy_reference_property_

PositionReferenceProperty* rviz::AerialMapDisplay::xy_reference_property_

protected

Definition at line 203 of file aerialmap_display.h.

◆ xy_reference_type_

PositionReferenceType rviz::AerialMapDisplay::xy_reference_type_

protected

Type of XY position reference.

Definition at line 226 of file aerialmap_display.h.

◆ z_offset_

double rviz::AerialMapDisplay::z_offset_

protected

Offset of the tiles in Z axis (relative to map/utm)

Definition at line 234 of file aerialmap_display.h.

◆ z_offset_property_

FloatProperty* rviz::AerialMapDisplay::z_offset_property_

protected

Definition at line 205 of file aerialmap_display.h.

◆ z_reference_frame_

std::string rviz::AerialMapDisplay::z_reference_frame_

protected

Z position reference TF frame (if TF_FRAME type is used)

Definition at line 232 of file aerialmap_display.h.

◆ z_reference_property_

PositionReferenceProperty* rviz::AerialMapDisplay::z_reference_property_

protected

Definition at line 204 of file aerialmap_display.h.

◆ z_reference_type_

PositionReferenceType rviz::AerialMapDisplay::z_reference_type_

protected

Type of Z position reference.

Definition at line 230 of file aerialmap_display.h.

◆ zoom_

int rviz::AerialMapDisplay::zoom_

protected

the zoom to use (Mercator)

Definition at line 214 of file aerialmap_display.h.

◆ zoom_property_

IntProperty* rviz::AerialMapDisplay::zoom_property_

protected

Definition at line 195 of file aerialmap_display.h.

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

Classes

Public Member Functions

Protected Slots

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AerialMapDisplay()

◆ ~AerialMapDisplay()

Member Function Documentation

◆ assembleScene()

◆ checkRequestErrorRate()

◆ clearAll()

◆ createTileObjects()

◆ destroyTileObjects()

◆ navFixCallback()

◆ onDisable()

◆ onEnable()

◆ onInitialize()

◆ requestTileTextures()

◆ reset()

◆ subscribe()

◆ tfReferencePeriodicUpdate()

◆ transformMapTileToFixedFrame()

◆ transformTileToMapFrame()

◆ transformTileToReferenceFrame()

◆ transformTileToUtmFrame()

◆ triggerSceneAssembly()

◆ unsubscribe()

◆ update()

◆ updateAlpha

◆ updateBlocks

◆ updateCenterTile()

◆ updateDrawUnder

◆ updateMapFrame

◆ updateMapTransformType

◆ updateTileUrl

◆ updateTopic

◆ updateUtmFrame

◆ updateUtmZone

◆ updateXYReference

◆ updateZOffset

◆ updateZoom

◆ updateZReference

Member Data Documentation

◆ alpha_

◆ alpha_property_

◆ blocks_

◆ blocks_property_

◆ center_tile_

◆ center_tile_pose_

◆ dirty_

◆ draw_under_

◆ draw_under_property_

◆ map_frame_

◆ map_frame_property_

◆ map_transform_type_

◆ map_transform_type_property_

◆ navsat_fix_sub_

◆ objects_

◆ ref_coords_

◆ ref_fix_

◆ tf_buffer_

◆ tf_reference_update_duration_

◆ tf_reference_update_timer_

◆ tile_cache_

◆ tile_url_

◆ tile_url_property_

◆ topic_property_

◆ utm_frame_

◆ utm_frame_property_

◆ utm_zone_

◆ utm_zone_property_

◆ xy_reference_frame_

◆ xy_reference_property_

◆ xy_reference_type_

◆ z_offset_

◆ z_offset_property_

◆ z_reference_frame_