Uses a robot xml description to display the pieces of a robot at the transforms broadcast by rosTF. More...
#include <robot_model_display.h>
Public Member Functions | |
void | clear () |
virtual void | createProperties () |
Called from setPropertyManager, gives the display a chance to create some properties immediately. | |
virtual void | fixedFrameChanged () |
Override to handle changes to fixed_frame_. This base class implementation does nothing. | |
float | getAlpha () |
const std::string & | getRobotDescription () |
const std::string & | getTFPrefix () |
float | getUpdateRate () |
virtual void | hideVisible () |
Hides all visible parts of this display, so they do not show up when the scene is rendered. | |
bool | isCollisionVisible () |
bool | isVisualVisible () |
void | onInitialize () |
Override this function to do subclass-specific initialization. | |
virtual void | reset () |
Called to tell the display to clear its state. | |
virtual void | restoreVisible () |
Restores the display to the state it was in before hideVisible() was called. | |
RobotModelDisplay () | |
void | setAlpha (float alpha) |
void | setCollisionVisible (bool visible) |
Set whether the collision representation should be displayed. | |
void | setRobotDescription (const std::string &description_param) |
Set the robot description parameter. | |
void | setTFPrefix (const std::string &prefix) |
void | setUpdateRate (float rate) |
Set the rate at which we request new transforms from libTF. | |
void | setVisualVisible (bool visible) |
Set whether the visual mesh representation should be displayed. | |
virtual void | update (float wall_dt, float ros_dt) |
Called periodically by the visualization panel. | |
virtual | ~RobotModelDisplay () |
Protected Member Functions | |
void | load () |
Loads a URDF from our description_param_, iterates through the links and loads any necessary models. | |
virtual void | onDisable () |
Derived classes override this to do the actual work of disabling themselves. | |
virtual void | onEnable () |
Derived classes override this to do the actual work of enabling themselves. | |
Protected Attributes | |
float | alpha_ |
FloatPropertyWPtr | alpha_property_ |
BoolPropertyWPtr | collision_enabled_property_ |
std::string | description_param_ |
ROS parameter that contains the robot xml description. | |
bool | has_new_transforms_ |
Callback sets this to tell our update function it needs to update the transforms. | |
bool | hidden_ |
Robot * | robot_ |
Handles actually drawing the robot. | |
std::string | robot_description_ |
StringPropertyWPtr | robot_description_property_ |
std::string | tf_prefix_ |
StringPropertyWPtr | tf_prefix_property_ |
float | time_since_last_transform_ |
float | update_rate_ |
FloatPropertyWPtr | update_rate_property_ |
BoolPropertyWPtr | visual_enabled_property_ |
Uses a robot xml description to display the pieces of a robot at the transforms broadcast by rosTF.
Definition at line 60 of file robot_model_display.h.
Definition at line 52 of file robot_model_display.cpp.
rviz::RobotModelDisplay::~RobotModelDisplay | ( | ) | [virtual] |
Definition at line 62 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::clear | ( | void | ) |
Definition at line 282 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::createProperties | ( | ) | [virtual] |
Called from setPropertyManager, gives the display a chance to create some properties immediately.
When this function is called, the property_manager_ member is valid and will stay valid
Reimplemented from rviz::Display.
Definition at line 249 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::fixedFrameChanged | ( | ) | [virtual] |
Override to handle changes to fixed_frame_. This base class implementation does nothing.
Reimplemented from rviz::Display.
Definition at line 244 of file robot_model_display.cpp.
float rviz::RobotModelDisplay::getAlpha | ( | ) | [inline] |
Definition at line 99 of file robot_model_display.h.
const std::string& rviz::RobotModelDisplay::getRobotDescription | ( | ) | [inline] |
Definition at line 94 of file robot_model_display.h.
const std::string& rviz::RobotModelDisplay::getTFPrefix | ( | ) | [inline] |
Definition at line 102 of file robot_model_display.h.
float rviz::RobotModelDisplay::getUpdateRate | ( | ) | [inline] |
Definition at line 95 of file robot_model_display.h.
void rviz::RobotModelDisplay::hideVisible | ( | ) | [virtual] |
Hides all visible parts of this display, so they do not show up when the scene is rendered.
Reimplemented from rviz::Display.
Definition at line 99 of file robot_model_display.cpp.
Definition at line 154 of file robot_model_display.cpp.
Definition at line 149 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::load | ( | ) | [protected] |
Loads a URDF from our description_param_, iterates through the links and loads any necessary models.
Definition at line 159 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::onDisable | ( | ) | [protected, virtual] |
Derived classes override this to do the actual work of disabling themselves.
Implements rviz::Display.
Definition at line 222 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::onEnable | ( | ) | [protected, virtual] |
Derived classes override this to do the actual work of enabling themselves.
Implements rviz::Display.
Definition at line 216 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::onInitialize | ( | ) | [virtual] |
Override this function to do subclass-specific initialization.
This is called after vis_manager_ and scene_manager_ are set.
Reimplemented from rviz::Display.
Definition at line 67 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::reset | ( | ) | [virtual] |
Called to tell the display to clear its state.
Reimplemented from rviz::Display.
Definition at line 289 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::restoreVisible | ( | ) | [virtual] |
Restores the display to the state it was in before hideVisible() was called.
Reimplemented from rviz::Display.
Definition at line 105 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::setAlpha | ( | float | alpha | ) |
Definition at line 77 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::setCollisionVisible | ( | bool | visible | ) |
Set whether the collision representation should be displayed.
visible |
Definition at line 120 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::setRobotDescription | ( | const std::string & | description_param | ) |
Set the robot description parameter.
description_param | The ROS parameter name which contains the robot xml description |
Definition at line 86 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::setTFPrefix | ( | const std::string & | prefix | ) |
Definition at line 138 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::setUpdateRate | ( | float | rate | ) |
Set the rate at which we request new transforms from libTF.
rate | The rate, in seconds |
Definition at line 129 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::setVisualVisible | ( | bool | visible | ) |
Set whether the visual mesh representation should be displayed.
visible |
Definition at line 111 of file robot_model_display.cpp.
void rviz::RobotModelDisplay::update | ( | float | wall_dt, |
float | ros_dt | ||
) | [virtual] |
Called periodically by the visualization panel.
dt | Wall-clock time, in seconds, since the last time the update list was run through. |
Reimplemented from rviz::Display.
Definition at line 228 of file robot_model_display.cpp.
float rviz::RobotModelDisplay::alpha_ [protected] |
Definition at line 137 of file robot_model_display.h.
FloatPropertyWPtr rviz::RobotModelDisplay::alpha_property_ [protected] |
Definition at line 144 of file robot_model_display.h.
BoolPropertyWPtr rviz::RobotModelDisplay::collision_enabled_property_ [protected] |
Definition at line 141 of file robot_model_display.h.
std::string rviz::RobotModelDisplay::description_param_ [protected] |
ROS parameter that contains the robot xml description.
Definition at line 129 of file robot_model_display.h.
bool rviz::RobotModelDisplay::has_new_transforms_ [protected] |
Callback sets this to tell our update function it needs to update the transforms.
Definition at line 133 of file robot_model_display.h.
bool rviz::RobotModelDisplay::hidden_ [protected] |
Definition at line 149 of file robot_model_display.h.
Robot* rviz::RobotModelDisplay::robot_ [protected] |
Handles actually drawing the robot.
Definition at line 131 of file robot_model_display.h.
std::string rviz::RobotModelDisplay::robot_description_ [protected] |
Definition at line 147 of file robot_model_display.h.
StringPropertyWPtr rviz::RobotModelDisplay::robot_description_property_ [protected] |
Definition at line 143 of file robot_model_display.h.
std::string rviz::RobotModelDisplay::tf_prefix_ [protected] |
Definition at line 138 of file robot_model_display.h.
StringPropertyWPtr rviz::RobotModelDisplay::tf_prefix_property_ [protected] |
Definition at line 145 of file robot_model_display.h.
float rviz::RobotModelDisplay::time_since_last_transform_ [protected] |
Definition at line 135 of file robot_model_display.h.
float rviz::RobotModelDisplay::update_rate_ [protected] |
Definition at line 136 of file robot_model_display.h.
FloatPropertyWPtr rviz::RobotModelDisplay::update_rate_property_ [protected] |
Definition at line 142 of file robot_model_display.h.
BoolPropertyWPtr rviz::RobotModelDisplay::visual_enabled_property_ [protected] |
Definition at line 140 of file robot_model_display.h.