pinocchio.visualize.rviz_visualizer.RVizVisualizer Class Reference

Inheritance diagram for pinocchio.visualize.rviz_visualizer.RVizVisualizer:

Classes
class	Viewer

Public Member Functions
def	captureImage (self, w=None, h=None)
def	clean (self)
def	disableCameraControl (self)
def	display (self, q=None)
def	displayCollisions (self, visibility)
def	displayVisuals (self, visibility)
def	drawFrameVelocities (self, *args, **kwargs)
def	enableCameraControl (self)
def	initViewer (self, viewer=None, windowName="python-pinocchio", loadModel=False, initRosNode=True)
def	loadViewerModel (self, rootNodeName="pinocchio")
def	setBackgroundColor (self)
def	setCameraPose (self, np.ndarray pose)
def	setCameraPosition (self, np.ndarray position)
def	setCameraTarget (self, target)
def	setCameraZoom (self, float zoom)
def	sleep (self, dt)

Public Attributes
	collision_Display
	collision_ids
	collisions_publisher
	group_Display
	seq
	viewer
	visual_Display
	visual_ids
	visuals_publisher

Private Member Functions
def	_clean (self, publisher)
def	_plot (self, publisher, model, data, previous_ids=())

Detailed Description

A Pinocchio display using RViz

Definition at line 59 of file rviz_visualizer.py.

Member Function Documentation

_clean()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer._clean (   self,   publisher  )

private

Delete all the markers from a topic (use one marker with action DELETEALL)

Definition at line 279 of file rviz_visualizer.py.

_plot()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer._plot (   self,   publisher,   model,   data,   previous_ids = ()  )

private

Create markers for each object of the model and publish it as MarkerArray
(also delete unused previously created markers)

Definition at line 192 of file rviz_visualizer.py.

captureImage()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.captureImage	(		self,
			w = None,
			h = None
	)

Definition at line 327 of file rviz_visualizer.py.

clean()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.clean

(

self

)

Delete all the objects from the whole scene

Definition at line 154 of file rviz_visualizer.py.

disableCameraControl()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.disableCameraControl

(

self

)

Definition at line 330 of file rviz_visualizer.py.

display()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.display	(		self,
			q = None
	)

Display the robot at configuration q in the viz by placing all the bodies.

Definition at line 164 of file rviz_visualizer.py.

displayCollisions()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.displayCollisions	(		self,
			visibility
	)

Set whether to display collision objects or not

Definition at line 299 of file rviz_visualizer.py.

displayVisuals()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.displayVisuals	(		self,
			visibility
	)

Set whether to display visual objects or not

Definition at line 303 of file rviz_visualizer.py.

drawFrameVelocities()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.drawFrameVelocities	(		self,
		*	args,
		**	kwargs
	)

Definition at line 336 of file rviz_visualizer.py.

enableCameraControl()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.enableCameraControl

(

self

)

Definition at line 333 of file rviz_visualizer.py.

initViewer()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.initViewer	(		self,
			viewer = None,
			windowName = "python-pinocchio",
			loadModel = False,
			initRosNode = True
	)

Init RVizViewer by starting a ros node (or not) and creating an RViz window.

Definition at line 67 of file rviz_visualizer.py.

loadViewerModel()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.loadViewerModel	(		self,
			rootNodeName = "pinocchio"
	)

Create the displays in RViz and create publishers for the MarkerArray

Definition at line 112 of file rviz_visualizer.py.

setBackgroundColor()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.setBackgroundColor

(

self

)

Definition at line 312 of file rviz_visualizer.py.

setCameraPose()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.setCameraPose	(		self,
		np.ndarray	pose
	)

Definition at line 324 of file rviz_visualizer.py.

setCameraPosition()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.setCameraPosition	(		self,
		np.ndarray	position
	)

Definition at line 318 of file rviz_visualizer.py.

setCameraTarget()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.setCameraTarget	(		self,
			target
	)

Definition at line 315 of file rviz_visualizer.py.

setCameraZoom()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.setCameraZoom	(		self,
		float	zoom
	)

Definition at line 321 of file rviz_visualizer.py.

sleep()

def pinocchio.visualize.rviz_visualizer.RVizVisualizer.sleep	(		self,
			dt
	)

Definition at line 307 of file rviz_visualizer.py.

Member Data Documentation

collision_Display

pinocchio.visualize.rviz_visualizer.RVizVisualizer.collision_Display

Definition at line 131 of file rviz_visualizer.py.

collision_ids

pinocchio.visualize.rviz_visualizer.RVizVisualizer.collision_ids

Definition at line 137 of file rviz_visualizer.py.

collisions_publisher

pinocchio.visualize.rviz_visualizer.RVizVisualizer.collisions_publisher

Definition at line 128 of file rviz_visualizer.py.

group_Display

pinocchio.visualize.rviz_visualizer.RVizVisualizer.group_Display

Definition at line 141 of file rviz_visualizer.py.

seq

pinocchio.visualize.rviz_visualizer.RVizVisualizer.seq

Definition at line 151 of file rviz_visualizer.py.

viewer

pinocchio.visualize.rviz_visualizer.RVizVisualizer.viewer

Definition at line 90 of file rviz_visualizer.py.

visual_Display

pinocchio.visualize.rviz_visualizer.RVizVisualizer.visual_Display

Definition at line 121 of file rviz_visualizer.py.

visual_ids

pinocchio.visualize.rviz_visualizer.RVizVisualizer.visual_ids

Definition at line 125 of file rviz_visualizer.py.

visuals_publisher

pinocchio.visualize.rviz_visualizer.RVizVisualizer.visuals_publisher

Definition at line 118 of file rviz_visualizer.py.

---

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

• rviz_visualizer.py