Class RelativePose2DStampedConstraintVisual

• Defined in File relative_pose_2d_stamped_constraint_visual.hpp

Inheritance Relationships

Base Type

• public rviz_rendering::Object

Class Documentation

class RelativePose2DStampedConstraintVisual : public rviz_rendering::Object

Relative 2D pose constraint visual consisting on:

1. A line that starts from the first/source variable position and ends at the relative position wrt that variable.

2. An axes that shows the relative pose wrt the first/source variable.

3. A line that starts from the relative position wrt the first/source variable and ends at the second/target variable position, which represents the error.

4. A covariance visual object that represents the relative pose 2D covariance with an ellipse for the position and a cone for the orientation.

5. A text with the constraint source, type and UUID.

Public Types

using CovarianceVisualPtr = MappedCovarianceProperty::MappedCovarianceVisualPtr

Public Functions

~RelativePose2DStampedConstraintVisual() override

void setConstraint(const fuse_constraints::RelativePose2DStampedConstraint &constraint, const fuse_core::Graph &graph)

Set the constraint.

Parameters:

• constraint – [in] fuse_constraints::RelativePose2DStampedConstraint constraint.

• graph – [in] fuse_core::Graph, used to retrieve the first/source and second/target constraint variables pose.

inline Ogre::SceneNode *getSceneNode()

Get the root scene node of this constraint visual.

Returns:

the root scene node of this constraint visual

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

Sets user data on all ogre objects we own.

void setRelativePoseLineWidth(const float line_width)

void setErrorLineWidth(const float line_width)

void setLossMinBrightness(const float min_brightness)

void setRelativePoseLineColor(const float r, const float g, const float b, const float a)

void setErrorLineColor(const float r, const float g, const float b, const float a)

void setRelativePoseAxesAlpha(const float alpha)

void setRelativePoseAxesScale(const Ogre::Vector3 &scale)

void setTextScale(const Ogre::Vector3 &scale)

void setTextVisible(const bool visible)

void setVisible(bool visible)

Sets visibility of this constraint.

Convenience method that sets visibility

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

Sets position of the frame this constraint is attached.

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

Sets orientation of the frame this constraint is attached.

inline const CovarianceVisualPtr &getCovariance() const

inline void setCovariance(const CovarianceVisualPtr &covariance)

inline const std::string &getSource() const