robot_state_visualization.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_ROBOT_STATE_VISUALIZATION_
00038 #define MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_ROBOT_STATE_VISUALIZATION_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 #include <moveit/robot_state/robot_state.h>
00042 #include <moveit/rviz_plugin_render_tools/octomap_render.h>
00043 #include <rviz/robot/robot.h>
00044 
00045 namespace moveit_rviz_plugin
00046 {
00047 MOVEIT_CLASS_FORWARD(RenderShapes);
00048 MOVEIT_CLASS_FORWARD(RobotStateVisualization);
00049 
00051 class RobotStateVisualization
00052 {
00053 public:
00054   RobotStateVisualization(Ogre::SceneNode* root_node, rviz::DisplayContext* context, const std::string& name,
00055                           rviz::Property* parent_property);
00056 
00057   rviz::Robot& getRobot()
00058   {
00059     return robot_;
00060   }
00061 
00062   void load(const urdf::ModelInterface& descr, bool visual = true, bool collision = true);
00063   void clear();
00064 
00065   void update(const robot_state::RobotStateConstPtr& kinematic_state);
00066   void update(const robot_state::RobotStateConstPtr& kinematic_state,
00067               const std_msgs::ColorRGBA& default_attached_object_color);
00068   void update(const robot_state::RobotStateConstPtr& kinematic_state,
00069               const std_msgs::ColorRGBA& default_attached_object_color,
00070               const std::map<std::string, std_msgs::ColorRGBA>& color_map);
00071   void setDefaultAttachedObjectColor(const std_msgs::ColorRGBA& default_attached_object_color);
00072 
00077   void setVisible(bool visible);
00078 
00083   void setVisualVisible(bool visible);
00084 
00089   void setCollisionVisible(bool visible);
00090 
00091   void setAlpha(float alpha);
00092 
00093 private:
00094   void updateHelper(const robot_state::RobotStateConstPtr& kinematic_state,
00095                     const std_msgs::ColorRGBA& default_attached_object_color,
00096                     const std::map<std::string, std_msgs::ColorRGBA>* color_map);
00097   rviz::Robot robot_;
00098   RenderShapesPtr render_shapes_;
00099   std_msgs::ColorRGBA default_attached_object_color_;
00100   OctreeVoxelRenderMode octree_voxel_render_mode_;
00101   OctreeVoxelColorMode octree_voxel_color_mode_;
00102 
00103   bool visible_;
00104   bool visual_visible_;
00105   bool collision_visible_;
00106 };
00107 }
00108 
00109 #endif


visualization
Author(s): Ioan Sucan , Dave Coleman , Sachin Chitta
autogenerated on Wed Jun 19 2019 19:25:00