rviz::Robot Class Reference

#include <robot.h>

List of all members.

Public Member Functions
void	clear ()
	Clears all data loaded from a URDF.
float	getAlpha ()
Ogre::SceneNode *	getCollisionNode ()
RobotLink *	getLink (const std::string &name)
CategoryPropertyWPtr	getLinksCategory ()
const std::string &	getName ()
virtual const Ogre::Quaternion &	getOrientation ()
Ogre::SceneNode *	getOtherNode ()
virtual const Ogre::Vector3 &	getPosition ()
Ogre::SceneNode *	getVisualNode ()
bool	isCollisionVisible ()
	Returns whether or not the collision representation is set to be visible.
bool	isVisualVisible ()
	Returns whether or not the visual representation is set to be visible.
void	load (TiXmlElement *root_element, urdf::Model &descr, bool visual=true, bool collision=true)
	Loads meshes/primitives from a robot description. Calls clear() before loading.
	Robot (VisualizationManager *manager, const std::string &name="")
void	setAlpha (float a)
void	setCollisionVisible (bool visible)
	Set whether the collision meshes/primitives of the robot should be visible.
virtual void	setOrientation (const Ogre::Quaternion &orientation)
virtual void	setPosition (const Ogre::Vector3 &position)
void	setPropertyManager (PropertyManager *property_manager, const CategoryPropertyWPtr &parent)
virtual void	setScale (const Ogre::Vector3 &scale)
void	setVisible (bool visible)
	Set the robot as a whole to be visible or not.
void	setVisualVisible (bool visible)
	Set whether the visual meshes of the robot should be visible.
void	update (const LinkUpdater &updater)
	~Robot ()
Protected Types
typedef std::map< std::string, RobotLink * >	M_NameToLink
Protected Member Functions
void	updateLinkVisibilities ()
	Call RobotLink::updateVisibility() on each link.
Protected Attributes
float	alpha_
bool	collision_visible_
	Should we show the collision representation?
M_NameToLink	links_
	Map of name to link info, stores all loaded links.
CategoryPropertyWPtr	links_category_
std::string	name_
CategoryPropertyWPtr	parent_property_
PropertyManager *	property_manager_
Ogre::SceneNode *	root_collision_node_
	Node all our collision nodes are children of.
Ogre::SceneNode *	root_other_node_
Ogre::SceneNode *	root_visual_node_
	Node all our visual nodes are children of.
Ogre::SceneManager *	scene_manager_
VisualizationManager *	vis_manager_
bool	visual_visible_
	Should we show the visual representation?

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Detailed Description

A helper class to draw a representation of a robot, as specified by a URDF. Can display either the visual models of the robot, or the collision models.

Definition at line 90 of file robot.h.

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Member Typedef Documentation

typedef std::map< std::string, RobotLink* > rviz::Robot::M_NameToLink [protected]

Definition at line 166 of file robot.h.

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Constructor & Destructor Documentation

rviz::Robot::Robot	(	VisualizationManager *	manager,
		const std::string &	name = ""
	)

Definition at line 54 of file robot.cpp.

rviz::Robot::~Robot

(

)

Definition at line 71 of file robot.cpp.

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Member Function Documentation

void rviz::Robot::clear

(

void

)

Clears all data loaded from a URDF.

Definition at line 141 of file robot.cpp.

float rviz::Robot::getAlpha

(

)

[inline]

Definition at line 142 of file robot.h.

Ogre::SceneNode* rviz::Robot::getCollisionNode

(

)

[inline]

Definition at line 149 of file robot.h.

RobotLink * rviz::Robot::getLink

(

const std::string &

name

)

Definition at line 249 of file robot.cpp.

CategoryPropertyWPtr rviz::Robot::getLinksCategory

(

)

[inline]

Definition at line 152 of file robot.h.

const std::string& rviz::Robot::getName

(

void

)

[inline]

Definition at line 146 of file robot.h.

const Ogre::Quaternion & rviz::Robot::getOrientation

(

)

[virtual]

Definition at line 308 of file robot.cpp.

Ogre::SceneNode* rviz::Robot::getOtherNode

(

)

[inline]

Definition at line 150 of file robot.h.

const Ogre::Vector3 & rviz::Robot::getPosition

(

)

[virtual]

Definition at line 303 of file robot.cpp.

Ogre::SceneNode* rviz::Robot::getVisualNode

(

)

[inline]

Definition at line 148 of file robot.h.

bool rviz::Robot::isCollisionVisible

(

)

Returns whether or not the collision representation is set to be visible.

Definition at line 122 of file robot.cpp.

bool rviz::Robot::isVisualVisible

(

)

Returns whether or not the visual representation is set to be visible.

Definition at line 117 of file robot.cpp.

void rviz::Robot::load	(	TiXmlElement *	root_element,
		urdf::Model &	descr,
		bool	visual = true,
		bool	collision = true
	)

Loads meshes/primitives from a robot description. Calls clear() before loading.

Parameters:

descr	The robot description to read from
visual	Whether or not to load the visual representation
collision	Whether or not to load the collision representation

Definition at line 199 of file robot.cpp.

void rviz::Robot::setAlpha

(

float

a

)

Definition at line 127 of file robot.cpp.

void rviz::Robot::setCollisionVisible

(

bool

visible

)

Set whether the collision meshes/primitives of the robot should be visible.

Parameters:

visible

Whether the collision meshes/primitives should be visible

Definition at line 100 of file robot.cpp.

void rviz::Robot::setOrientation

(

const Ogre::Quaternion &

orientation

)

[virtual]

Definition at line 291 of file robot.cpp.

void rviz::Robot::setPosition

(

const Ogre::Vector3 &

position

)

[virtual]

Definition at line 285 of file robot.cpp.

void rviz::Robot::setPropertyManager	(	PropertyManager *	property_manager,
		const CategoryPropertyWPtr &	parent
	)

Definition at line 163 of file robot.cpp.

void rviz::Robot::setScale

(

const Ogre::Vector3 &

scale

)

[virtual]

Definition at line 297 of file robot.cpp.

void rviz::Robot::setVisible

(

bool

visible

)

Set the robot as a whole to be visible or not.

Parameters:

visible

Should we be visible?

Definition at line 80 of file robot.cpp.

void rviz::Robot::setVisualVisible

(

bool

visible

)

Set whether the visual meshes of the robot should be visible.

Parameters:

visible

Whether the visual meshes of the robot should be visible

Definition at line 94 of file robot.cpp.

void rviz::Robot::update

(

const LinkUpdater &

updater

)

Definition at line 261 of file robot.cpp.

void rviz::Robot::updateLinkVisibilities

(

)

[protected]

Call RobotLink::updateVisibility() on each link.

Definition at line 106 of file robot.cpp.

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Member Data Documentation

float rviz::Robot::alpha_ [protected]

Definition at line 182 of file robot.h.

bool rviz::Robot::collision_visible_ [protected]

Should we show the collision representation?

Definition at line 174 of file robot.h.

M_NameToLink rviz::Robot::links_ [protected]

Map of name to link info, stores all loaded links.

Definition at line 167 of file robot.h.

CategoryPropertyWPtr rviz::Robot::links_category_ [protected]

Definition at line 179 of file robot.h.

std::string rviz::Robot::name_ [protected]

Definition at line 181 of file robot.h.

CategoryPropertyWPtr rviz::Robot::parent_property_ [protected]

Definition at line 178 of file robot.h.

PropertyManager* rviz::Robot::property_manager_ [protected]

Definition at line 177 of file robot.h.

Ogre::SceneNode* rviz::Robot::root_collision_node_ [protected]

Node all our collision nodes are children of.

Definition at line 170 of file robot.h.

Ogre::SceneNode* rviz::Robot::root_other_node_ [protected]

Definition at line 171 of file robot.h.

Ogre::SceneNode* rviz::Robot::root_visual_node_ [protected]

Node all our visual nodes are children of.

Definition at line 169 of file robot.h.

Ogre::SceneManager* rviz::Robot::scene_manager_ [protected]

Definition at line 164 of file robot.h.

VisualizationManager* rviz::Robot::vis_manager_ [protected]

Definition at line 176 of file robot.h.

bool rviz::Robot::visual_visible_ [protected]

Should we show the visual representation?

Definition at line 173 of file robot.h.

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

• robot.h
• robot.cpp