The VisualizationManager class is the central manager class of rviz, holding all the Displays, Tools, ViewControllers, and other managers. More...

#include <visualization_manager.h>

Inheritance diagram for rviz::VisualizationManager:

[legend]

List of all members.

Signals
void	configChanged ()
	Emitted whenever the display configuration changes.
void	preUpdate ()
	Emitted before updating all Displays.
void	statusUpdate (const QString &message)
	Emitted during file-loading and initialization to indicate progress.
Public Member Functions
void	addDisplay (Display *display, bool enabled)
	Add a display to be managed by this panel.
Display *	createDisplay (const QString &class_lookup_name, const QString &name, bool enabled)
	Create and add a display to this panel, by class lookup name.
void	emitStatusUpdate (const QString &message)
	Emits statusUpdate() signal with the given message.
virtual uint32_t	getDefaultVisibilityBit () const
virtual DisplayFactory *	getDisplayFactory () const
	Return a factory for creating Display subclasses based on a class id string.
PropertyTreeModel *	getDisplayTreeModel () const
QString	getFixedFrame () const
	Return the fixed frame name.
uint64_t	getFrameCount () const
	Return the current value of the frame count.
FrameManager *	getFrameManager () const
	Return the FrameManager instance.
virtual QString	getHelpPath () const
RenderPanel *	getRenderPanel () const
	Return the main RenderPanel.
virtual DisplayGroup *	getRootDisplayGroup () const
double	getROSTime ()
	Return the ROS time, in seconds.
double	getROSTimeElapsed ()
	Return the ROS time in seconds since the last reset.
Ogre::SceneManager *	getSceneManager () const
	Returns the Ogre::SceneManager used for the main RenderPanel.
SelectionManager *	getSelectionManager () const
	Return a pointer to the SelectionManager.
tf::TransformListener *	getTFClient () const
	Convenience function: returns getFrameManager()->getTFClient().
ros::CallbackQueueInterface *	getThreadedQueue ()
	Return a CallbackQueue using a different thread than the main GUI one.
virtual ToolManager *	getToolManager () const
	Return a pointer to the ToolManager.
ros::CallbackQueueInterface *	getUpdateQueue ()
	Return the CallbackQueue using the main GUI thread.
virtual ViewManager *	getViewManager () const
	Return a pointer to the ViewManager.
double	getWallClock ()
	Return the wall clock time, in seconds since 1970.
double	getWallClockElapsed ()
	Return the wall clock time in seconds since the last reset.
WindowManagerInterface *	getWindowManager () const
	Return the window manager, if any.
void	handleChar (QKeyEvent event, RenderPanel panel)
	Handle a single key event for a given RenderPanel.
void	handleMouseEvent (const ViewportMouseEvent &event)
	Handle a mouse event.
void	initialize ()
	Do initialization that wasn't done in constructor. Initializes tool manager, view manager, selection manager.
void	load (const Config &config)
	Load the properties of each Display and most editable rviz data.
void	lockRender ()
	Lock a mutex to delay calls to Ogre::Root::renderOneFrame().
void	notifyConfigChanged ()
	Notify this VisualizationManager that something about its display configuration has changed.
void	queueRender ()
	Queues a render. Multiple calls before a render happens will only cause a single render.
void	removeAllDisplays ()
	Remove and delete all displays.
void	resetTime ()
	Resets the wall and ROS elapsed time to zero and calls resetDisplays().
void	save (Config config) const
	Save the properties of each Display and most editable rviz data.
void	setFixedFrame (const QString &frame)
	Set the coordinate frame we should be transforming all fixed data into.
virtual void	setHelpPath (const QString &help_path)
virtual void	setStatus (const QString &message)
void	startUpdate ()
	Start timers. Creates and starts the update and idle timers, both set to 30Hz (33ms).
void	stopUpdate ()
void	unlockRender ()
	Unlock a mutex, allowing calls to Ogre::Root::renderOneFrame().
virtual BitAllocator *	visibilityBits ()
	VisualizationManager (RenderPanel render_panel, WindowManagerInterface wm=0)
	Constructor Creates managers and sets up global properties.
virtual	~VisualizationManager ()
	Destructor Stops update timers and destroys all displays, tools, and managers.
Protected Slots
void	onToolChanged (Tool *)
void	onUpdate ()
	Call update() on all managed objects.
Protected Member Functions
void	createColorMaterials ()
void	threadedQueueThreadFunc ()
void	updateFrames ()
void	updateTime ()
Protected Attributes
ColorProperty *	background_color_property_
PropertyTreeModel *	display_property_tree_model_
TfFrameProperty *	fixed_frame_property_
	Frame to transform fixed data to.
IntProperty *	fps_property_
uint64_t	frame_count_
FrameManager *	frame_manager_
float	frame_update_timer_
Property *	global_options_
StatusList *	global_status_
ros::Time	last_update_ros_time_
	Update stopwatch. Stores how long it's been since the last update.
ros::WallTime	last_update_wall_time_
OgreRenderQueueClearer *	ogre_render_queue_clearer_
Ogre::Root *	ogre_root_
	Ogre Root.
RenderPanel *	render_panel_
uint32_t	render_requested_
DisplayGroup *	root_display_group_
ros::Time	ros_time_begin_
ros::Duration	ros_time_elapsed_
Ogre::SceneManager *	scene_manager_
	Ogre scene manager associated with this panel.
SelectionManager *	selection_manager_
volatile bool	shutting_down_
float	time_update_timer_
ToolManager *	tool_manager_
QTimer *	update_timer_
	Update timer. Display::update is called on each display whenever this timer fires.
ViewManager *	view_manager_
ros::WallTime	wall_clock_begin_
ros::WallDuration	wall_clock_elapsed_
WindowManagerInterface *	window_manager_
Private Slots
void	updateBackgroundColor ()
void	updateFixedFrame ()
void	updateFps ()
Private Attributes
uint32_t	default_visibility_bit_
Ogre::Light *	directional_light_
DisplayFactory *	display_factory_
QString	help_path_
VisualizationManagerPrivate *	private_
BitAllocator	visibility_bit_allocator_

Detailed Description

The VisualizationManager class is the central manager class of rviz, holding all the Displays, Tools, ViewControllers, and other managers.

It keeps the current view controller for the main render window. It has a timer which calls update() on all the displays. It creates and holds pointers to the other manager objects: SelectionManager, FrameManager, the PropertyManager s, and Ogre::SceneManager.

The "protected" members should probably all be "private", as VisualizationManager is not intended to be subclassed.

Definition at line 99 of file visualization_manager.h.

Constructor & Destructor Documentation

rviz::VisualizationManager::VisualizationManager	(	RenderPanel *	render_panel,
		WindowManagerInterface *	wm = `0`
	)

Constructor Creates managers and sets up global properties.

Parameters:

render_panel	a pointer to the main render panel widget of the app.
wm	a pointer to the window manager (which is really just a VisualizationFrame, the top-level container widget of rviz).

Definition at line 117 of file visualization_manager.cpp.

rviz::VisualizationManager::~VisualizationManager ( ) [virtual]

Destructor Stops update timers and destroys all displays, tools, and managers.

Definition at line 199 of file visualization_manager.cpp.

Member Function Documentation

void rviz::VisualizationManager::addDisplay	(	Display *	display,
		bool	enabled
	)

Add a display to be managed by this panel.

Parameters:

display The display to be added

Definition at line 429 of file visualization_manager.cpp.

void rviz::VisualizationManager::configChanged ( ) [signal]

Emitted whenever the display configuration changes.

void rviz::VisualizationManager::createColorMaterials ( ) [protected]

Definition at line 283 of file visualization_manager.cpp.

Display * rviz::VisualizationManager::createDisplay	(	const QString &	class_lookup_name,
		const QString &	name,
		bool	enabled
	)

Create and add a display to this panel, by class lookup name.

Parameters:

class_lookup_name	"lookup name" of the Display subclass, for pluginlib. Should be of the form "packagename/displaynameofclass", like "rviz/Image".
name	The name of this display instance shown on the GUI, like "Left arm camera".
enabled	Whether to start enabled

Returns:: A pointer to the new display.

Definition at line 469 of file visualization_manager.cpp.

void rviz::VisualizationManager::emitStatusUpdate ( const QString & message )

Emits statusUpdate() signal with the given message.

Definition at line 441 of file visualization_manager.cpp.

virtual uint32_t rviz::VisualizationManager::getDefaultVisibilityBit ( ) const [inline, virtual]

void rviz::VisualizationManager::handleChar	(	QKeyEvent *	event,
		RenderPanel *	panel
	)		`[virtual]`

Signals

Public Member Functions

Protected Slots

Protected Member Functions

Protected Attributes

Private Slots

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation