Class MappedCovarianceVisual

Inheritance Relationships

Base Type

  • public rviz_rendering::Object

Class Documentation

class MappedCovarianceVisual : public rviz_rendering::Object

MappedCovarianceVisual consisting in a ellipse for position and 2D ellipses along the axis for orientation.

This is mostly a copy of CovarianceVisual from rviz/default_plugin/covariance_visual.h that allows MappedCovarianceProperty be a friend class of MappedCovarianceVisual, so it can call its constructor.

Public Types

enum ShapeIndex

Values:

enumerator kRoll
enumerator kPitch
enumerator kYaw
enumerator kYaw2D
enumerator kNumOriShapes

Public Functions

~MappedCovarianceVisual() override
void setScales(float pos_scale, float ori_scale)

Set the position and orientation scales for this covariance.

Parameters:

  • pos_scale – Scale of the position covariance

  • ori_scale – Scale of the orientation covariance

void setPositionScale(float pos_scale)
void setOrientationOffset(float ori_offset)
void setOrientationScale(float ori_scale)
virtual void setPositionColor(float r, float g, float b, float a)

Set the color of the position covariance. Values are in the range [0, 1].

Parameters:

  • r – Red component

  • g – Green component

  • b – Blue component

void setPositionColor(const Ogre::ColourValue &color)
virtual void setOrientationColor(float r, float g, float b, float a)

Set the color of the orientation covariance. Values are in the range [0, 1].

Parameters:

  • r – Red component

  • g – Green component

  • b – Blue component

void setOrientationColor(const Ogre::ColourValue &color)
void setOrientationColorToRGB(float a)
virtual void setCovariance(const geometry_msgs::msg::PoseWithCovariance &pose)

Set the covariance.

This effectively changes the orientation and scale of position and orientation covariance shapes

virtual const Ogre::Vector3 &getPositionCovarianceScale()
virtual const Ogre::Quaternion &getPositionCovarianceOrientation()
inline Ogre::SceneNode *getPositionSceneNode()

Get the root scene node of the position part of this covariance.

Returns:

the root scene node of the position part of this covariance

inline Ogre::SceneNode *getOrientationSceneNode()

Get the root scene node of the orientation part of this covariance.

Returns:

the root scene node of the orientation part of this covariance

inline rviz_rendering::Shape *getPositionShape()

Get the shape used to display position covariance.

Returns:

the shape used to display position covariance

rviz_rendering::Shape *getOrientationShape(ShapeIndex index)

Get the shape used to display orientation covariance in an especific axis.

Returns:

the shape used to display orientation covariance in an especific axis

virtual void setUserData(const Ogre::Any &data)

Sets user data on all ogre objects we own.

virtual void setVisible(bool visible)

Sets visibility of this covariance.

Convenience method that sets visibility of both position and orientation parts.

virtual void setPositionVisible(bool visible)

Sets visibility of the position part of this covariance.

virtual void setOrientationVisible(bool visible)

Sets visibility of the orientation part of this covariance.

virtual void setPosition(const Ogre::Vector3 &position)

Sets position of the frame this covariance is attached.

virtual void setOrientation(const Ogre::Quaternion &orientation)

Sets orientation of the frame this covariance is attached.

virtual void setRotatingFrame(bool use_rotating_frame)

Sets which frame to attach the covariance of the orientation.