#include <planning_scene_display.h>

Inheritance diagram for moveit_rviz_plugin::PlanningSceneDisplay:

Public Member Functions
void	addBackgroundJob (const boost::function< void()> &job, const std::string &name)
void	addMainLoopJob (const boost::function< void()> &job)
	queue the execution of this function for the next time the main update() loop gets called
void	clearJobs ()
	remove all queued jobs
const std::string	getMoveGroupNS () const
const planning_scene_monitor::PlanningSceneMonitorPtr &	getPlanningSceneMonitor ()
planning_scene_monitor::LockedPlanningSceneRO	getPlanningSceneRO () const
	get read-only access to planning scene
planning_scene_monitor::LockedPlanningSceneRW	getPlanningSceneRW ()
	get write access to planning scene
const robot_model::RobotModelConstPtr &	getRobotModel () const
virtual void	load (const rviz::Config &config)
	PlanningSceneDisplay (bool listen_to_planning_scene=true, bool show_scene_robot=true)
void	queueRenderSceneGeometry ()
virtual void	reset ()
virtual void	save (rviz::Config config) const
void	setLinkColor (const std::string &link_name, const QColor &color)
void	spawnBackgroundJob (const boost::function< void()> &job)
void	unsetLinkColor (const std::string &link_name)
virtual void	update (float wall_dt, float ros_dt)
void	waitForAllMainLoopJobs ()
bool	waitForCurrentRobotState (const ros::Time &t=ros::Time::now())
	wait for robot state more recent than t
virtual	~PlanningSceneDisplay ()
Protected Member Functions
void	calculateOffsetPosition ()
	Set the scene node's position, given the target frame and the planning frame.
void	clearRobotModel ()
virtual planning_scene_monitor::PlanningSceneMonitorPtr	createPlanningSceneMonitor ()
void	executeMainLoopJobs ()
virtual void	fixedFrameChanged ()
void	loadRobotModel ()
virtual void	onDisable ()
virtual void	onEnable ()
virtual void	onInitialize ()
virtual void	onRobotModelLoaded ()
	This is an event called by loadRobotModel() in the MainLoop; do not call directly.
virtual void	onSceneMonitorReceivedUpdate (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
void	renderPlanningScene ()
void	sceneMonitorReceivedUpdate (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
void	setGroupColor (rviz::Robot *robot, const std::string &group_name, const QColor &color)
void	setLinkColor (rviz::Robot *robot, const std::string &link_name, const QColor &color)
void	unsetAllColors (rviz::Robot *robot)
void	unsetGroupColor (rviz::Robot *robot, const std::string &group_name)
void	unsetLinkColor (rviz::Robot *robot, const std::string &link_name)
virtual void	updateInternal (float wall_dt, float ros_dt)
Protected Attributes
rviz::ColorProperty *	attached_body_color_property_
moveit::tools::BackgroundProcessing	background_process_
float	current_scene_time_
std::deque< boost::function < void()> >	main_loop_jobs_
boost::condition_variable	main_loop_jobs_empty_condition_
boost::mutex	main_loop_jobs_lock_
bool	model_is_loading_
rviz::StringProperty *	move_group_ns_property_
rviz::EnumProperty *	octree_coloring_property_
rviz::EnumProperty *	octree_render_property_
planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor_
bool	planning_scene_needs_render_
Ogre::SceneNode *	planning_scene_node_
	displays planning scene with everything in it
PlanningSceneRenderPtr	planning_scene_render_
RobotStateVisualizationPtr	planning_scene_robot_
rviz::RosTopicProperty *	planning_scene_topic_property_
rviz::FloatProperty *	robot_alpha_property_
rviz::Property *	robot_category_
rviz::StringProperty *	robot_description_property_
boost::mutex	robot_model_loading_lock_
rviz::FloatProperty *	scene_alpha_property_
rviz::Property *	scene_category_
rviz::ColorProperty *	scene_color_property_
rviz::FloatProperty *	scene_display_time_property_
rviz::BoolProperty *	scene_enabled_property_
rviz::StringProperty *	scene_name_property_
rviz::BoolProperty *	scene_robot_collision_enabled_property_
rviz::BoolProperty *	scene_robot_visual_enabled_property_
Private Slots
void	changedAttachedBodyColor ()
void	changedMoveGroupNS ()
void	changedOctreeColorMode ()
void	changedOctreeRenderMode ()
void	changedPlanningSceneTopic ()
void	changedRobotDescription ()
void	changedRobotSceneAlpha ()
void	changedSceneAlpha ()
void	changedSceneColor ()
void	changedSceneDisplayTime ()
void	changedSceneEnabled ()
void	changedSceneName ()
void	changedSceneRobotCollisionEnabled ()
void	changedSceneRobotVisualEnabled ()

Detailed Description

Definition at line 68 of file planning_scene_display.h.

Constructor & Destructor Documentation

moveit_rviz_plugin::PlanningSceneDisplay::PlanningSceneDisplay	(	bool	listen_to_planning_scene = `true`,
		bool	show_scene_robot = `true`
	)

Definition at line 65 of file planning_scene_display.cpp.

moveit_rviz_plugin::PlanningSceneDisplay::~PlanningSceneDisplay ( ) [virtual]

Definition at line 158 of file planning_scene_display.cpp.

Member Function Documentation

void moveit_rviz_plugin::PlanningSceneDisplay::addBackgroundJob	(	const boost::function< void()> &	job,
		const std::string &	name
	)

Queue this function call for execution within the background thread All jobs are queued and processed in order by a single background thread.

Definition at line 215 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::addMainLoopJob ( const boost::function< void()> & job )

queue the execution of this function for the next time the main update() loop gets called

Definition at line 225 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::calculateOffsetPosition ( ) [protected]

Set the scene node's position, given the target frame and the planning frame.

Definition at line 648 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedAttachedBodyColor ( ) [private, slot]

Definition at line 302 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedMoveGroupNS ( ) [private, slot]

Definition at line 312 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedOctreeColorMode ( ) [private, slot]

Definition at line 392 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedOctreeRenderMode ( ) [private, slot]

Definition at line 388 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedPlanningSceneTopic ( ) [private, slot]

Definition at line 372 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedRobotDescription ( ) [private, slot]

Definition at line 318 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedRobotSceneAlpha ( ) [private, slot]

Definition at line 363 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedSceneAlpha ( ) [private, slot]

Definition at line 358 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedSceneColor ( ) [private, slot]

Definition at line 307 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedSceneDisplayTime ( ) [private, slot]

Definition at line 384 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedSceneEnabled ( ) [private, slot]

Definition at line 414 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedSceneName ( ) [private, slot]

Definition at line 324 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedSceneRobotCollisionEnabled ( ) [private, slot]

Definition at line 405 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedSceneRobotVisualEnabled ( ) [private, slot]

Definition at line 396 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::clearJobs ( )

remove all queued jobs

Definition at line 170 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::clearRobotModel ( ) [protected]

This function is used by loadRobotModel() and should only be called in the MainLoop You probably should not call this function directly

Definition at line 498 of file planning_scene_display.cpp.

planning_scene_monitor::PlanningSceneMonitorPtr moveit_rviz_plugin::PlanningSceneDisplay::createPlanningSceneMonitor ( ) [protected, virtual]

This function constructs a new planning scene. Probably this should be called in a background thread as it may take some time to complete its execution

Definition at line 491 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::executeMainLoopJobs ( ) [protected]

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 238 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::fixedFrameChanged ( ) [protected, virtual]

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 662 of file planning_scene_display.cpp.

const std::string moveit_rviz_plugin::PlanningSceneDisplay::getMoveGroupNS ( ) const

Definition at line 269 of file planning_scene_display.cpp.

const planning_scene_monitor::PlanningSceneMonitorPtr & moveit_rviz_plugin::PlanningSceneDisplay::getPlanningSceneMonitor ( )

Definition at line 264 of file planning_scene_display.cpp.

planning_scene_monitor::LockedPlanningSceneRO moveit_rviz_plugin::PlanningSceneDisplay::getPlanningSceneRO ( ) const

get read-only access to planning scene

Definition at line 292 of file planning_scene_display.cpp.

planning_scene_monitor::LockedPlanningSceneRW moveit_rviz_plugin::PlanningSceneDisplay::getPlanningSceneRW ( )

get write access to planning scene

Definition at line 297 of file planning_scene_display.cpp.

const robot_model::RobotModelConstPtr & moveit_rviz_plugin::PlanningSceneDisplay::getRobotModel ( ) const

Definition at line 274 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::load ( const rviz::Config & config ) [virtual]

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 635 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::loadRobotModel ( ) [protected]

This function reloads the robot model and reinitializes the PlanningSceneMonitor It can be called either from the Main Loop or from a Background thread

Definition at line 505 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::onDisable ( ) [protected, virtual]

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 596 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::onEnable ( ) [protected, virtual]

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 575 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::onInitialize ( ) [protected, virtual]

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 179 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::onRobotModelLoaded ( ) [protected, virtual]

This is an event called by loadRobotModel() in the MainLoop; do not call directly.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 538 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::onSceneMonitorReceivedUpdate ( planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type ) [protected, virtual]

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 564 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::queueRenderSceneGeometry ( )

Definition at line 609 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::renderPlanningScene ( ) [protected]

Definition at line 331 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::reset ( void ) [virtual]

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 198 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::save ( rviz::Config config ) const [virtual]

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 640 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::sceneMonitorReceivedUpdate ( planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type ) [protected]

Definition at line 558 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::setGroupColor	(	rviz::Robot *	robot,
		const std::string &	group_name,
		const QColor &	color
	)		`[protected]`

Definition at line 420 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::setLinkColor	(	const std::string &	link_name,
		const QColor &	color
	)

Definition at line 458 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::setLinkColor	(	rviz::Robot *	robot,
		const std::string &	link_name,
		const QColor &	color
	)		`[protected]`

Definition at line 470 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::spawnBackgroundJob ( const boost::function< void()> & job )

Directly spawn a (detached) background thread for execution of this function call Should be used, when order of processing is not relevant / job can run in parallel. Must be used, when job will be blocking. Using addBackgroundJob() in this case will block other queued jobs as well

Definition at line 220 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::unsetAllColors ( rviz::Robot * robot ) [protected]

Definition at line 434 of file planning_scene_display.cpp.