Signals | Public Member Functions | Protected Slots | Protected Member Functions | Protected Attributes | Private Slots | Private Attributes
rviz::VisualizationManager Class Reference

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:
Inheritance graph
[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.
DisplaycreateDisplay (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 DisplayFactorygetDisplayFactory () const
 Return a factory for creating Display subclasses based on a class id string.
PropertyTreeModelgetDisplayTreeModel () const
QString getFixedFrame () const
 Return the fixed frame name.
uint64_t getFrameCount () const
 Return the current value of the frame count.
FrameManagergetFrameManager () const
 Return the FrameManager instance.
virtual QString getHelpPath () const
RenderPanelgetRenderPanel () const
 Return the main RenderPanel.
virtual DisplayGroupgetRootDisplayGroup () 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.
SelectionManagergetSelectionManager () const
 Return a pointer to the SelectionManager.
tf::TransformListenergetTFClient () const
 Convenience function: returns getFrameManager()->getTFClient().
ros::CallbackQueueInterfacegetThreadedQueue ()
 Return a CallbackQueue using a different thread than the main GUI one.
virtual ToolManagergetToolManager () const
 Return a pointer to the ToolManager.
ros::CallbackQueueInterfacegetUpdateQueue ()
 Return the CallbackQueue using the main GUI thread.
virtual ViewManagergetViewManager () 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.
WindowManagerInterfacegetWindowManager () 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 BitAllocatorvisibilityBits ()
 VisualizationManager (RenderPanel *render_panel, WindowManagerInterface *wm=0, boost::shared_ptr< tf::TransformListener > tf=boost::shared_ptr< tf::TransformListener >())
 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

ColorPropertybackground_color_property_
PropertyTreeModeldisplay_property_tree_model_
TfFramePropertyfixed_frame_property_
 Frame to transform fixed data to.
IntPropertyfps_property_
uint64_t frame_count_
FrameManagerframe_manager_
float frame_update_timer_
Propertyglobal_options_
StatusListglobal_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_
OgreRenderQueueClearerogre_render_queue_clearer_
Ogre::Root * ogre_root_
 Ogre Root.
RenderPanelrender_panel_
uint32_t render_requested_
DisplayGrouproot_display_group_
ros::Time ros_time_begin_
ros::Duration ros_time_elapsed_
Ogre::SceneManager * scene_manager_
 Ogre scene manager associated with this panel.
SelectionManagerselection_manager_
volatile bool shutting_down_
float time_update_timer_
ToolManagertool_manager_
QTimer * update_timer_
 Update timer. Display::update is called on each display whenever this timer fires.
ViewManagerview_manager_
ros::WallTime wall_clock_begin_
ros::WallDuration wall_clock_elapsed_
WindowManagerInterfacewindow_manager_

Private Slots

void updateBackgroundColor ()
void updateFixedFrame ()
void updateFps ()

Private Attributes

uint32_t default_visibility_bit_
Ogre::Light * directional_light_
DisplayFactorydisplay_factory_
QString help_path_
VisualizationManagerPrivateprivate_
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,
boost::shared_ptr< tf::TransformListener tf = boost::shared_ptr<tf::TransformListener>() 
)

Constructor Creates managers and sets up global properties.

Parameters:
render_panela pointer to the main render panel widget of the app.
wma pointer to the window manager (which is really just a VisualizationFrame, the top-level container widget of rviz).
tfa pointer to tf::TransformListener which will be internally used by FrameManager.

Definition at line 120 of file visualization_manager.cpp.

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

Definition at line 204 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:
displayThe display to be added

Definition at line 434 of file visualization_manager.cpp.

Emitted whenever the display configuration changes.

Definition at line 288 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".
nameThe name of this display instance shown on the GUI, like "Left arm camera".
enabledWhether to start enabled
Returns:
A pointer to the new display.

Definition at line 474 of file visualization_manager.cpp.

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

Emits statusUpdate() signal with the given message.

Definition at line 446 of file visualization_manager.cpp.

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

Implements rviz::DisplayContext.

Definition at line 310 of file visualization_manager.h.

virtual DisplayFactory* rviz::VisualizationManager::getDisplayFactory ( ) const [inline, virtual]

Return a factory for creating Display subclasses based on a class id string.

Implements rviz::DisplayContext.

Definition at line 301 of file visualization_manager.h.

Definition at line 303 of file visualization_manager.h.

QString rviz::VisualizationManager::getFixedFrame ( ) const [virtual]

Return the fixed frame name.

See also:
setFixedFrame()

Implements rviz::DisplayContext.

Definition at line 590 of file visualization_manager.cpp.

uint64_t rviz::VisualizationManager::getFrameCount ( ) const [inline, virtual]

Return the current value of the frame count.

The frame count is just a number which increments each time a frame is rendered. This lets clients check if a new frame has been rendered since the last time they did something.

Implements rviz::DisplayContext.

Definition at line 294 of file visualization_manager.h.

Return the FrameManager instance.

Implements rviz::DisplayContext.

Definition at line 287 of file visualization_manager.h.

virtual QString rviz::VisualizationManager::getHelpPath ( ) const [inline, virtual]

Definition at line 317 of file visualization_manager.h.

Return the main RenderPanel.

Definition at line 199 of file visualization_manager.h.

virtual DisplayGroup* rviz::VisualizationManager::getRootDisplayGroup ( ) const [inline, virtual]

Implements rviz::DisplayContext.

Definition at line 308 of file visualization_manager.h.

Return the ROS time, in seconds.

Definition at line 491 of file visualization_manager.cpp.

Return the ROS time in seconds since the last reset.

Definition at line 501 of file visualization_manager.cpp.

Ogre::SceneManager* rviz::VisualizationManager::getSceneManager ( ) const [inline, virtual]

Returns the Ogre::SceneManager used for the main RenderPanel.

Implements rviz::DisplayContext.

Definition at line 194 of file visualization_manager.h.

Return a pointer to the SelectionManager.

Implements rviz::DisplayContext.

Definition at line 247 of file visualization_manager.h.

Convenience function: returns getFrameManager()->getTFClient().

Implements rviz::DisplayContext.

Definition at line 418 of file visualization_manager.cpp.

Return a CallbackQueue using a different thread than the main GUI one.

Implements rviz::DisplayContext.

Definition at line 244 of file visualization_manager.cpp.

virtual ToolManager* rviz::VisualizationManager::getToolManager ( ) const [inline, virtual]

Return a pointer to the ToolManager.

Implements rviz::DisplayContext.

Definition at line 250 of file visualization_manager.h.

Return the CallbackQueue using the main GUI thread.

Implements rviz::DisplayContext.

Definition at line 259 of file visualization_manager.cpp.

virtual ViewManager* rviz::VisualizationManager::getViewManager ( ) const [inline, virtual]

Return a pointer to the ViewManager.

Implements rviz::DisplayContext.

Definition at line 253 of file visualization_manager.h.

Return the wall clock time, in seconds since 1970.

Definition at line 486 of file visualization_manager.cpp.

Return the wall clock time in seconds since the last reset.

Definition at line 496 of file visualization_manager.cpp.

Return the window manager, if any.

Implements rviz::DisplayContext.

Definition at line 274 of file visualization_manager.h.

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

Handle a single key event for a given RenderPanel.

If the key is Escape, switches to the default Tool (via getDefaultTool()). All other key events are passed to the current Tool (via getCurrentTool()).

Implements rviz::DisplayContext.

Definition at line 560 of file visualization_manager.cpp.

Handle a mouse event.

This just copies the given event into an event queue. The events in the queue are processed by onUpdate() which is called from the main thread by a timer every 33ms.

Implements rviz::DisplayContext.

Definition at line 521 of file visualization_manager.cpp.

Do initialization that wasn't done in constructor. Initializes tool manager, view manager, selection manager.

Definition at line 232 of file visualization_manager.cpp.

void rviz::VisualizationManager::load ( const Config config)

Load the properties of each Display and most editable rviz data.

This is what is called when loading a "*.rviz" file.

Parameters:
configThe Config object to read from. Expected to be a Config::Map type.
See also:
save()

Definition at line 451 of file visualization_manager.cpp.

Lock a mutex to delay calls to Ogre::Root::renderOneFrame().

Definition at line 249 of file visualization_manager.cpp.

Notify this VisualizationManager that something about its display configuration has changed.

Definition at line 573 of file visualization_manager.cpp.

void rviz::VisualizationManager::onToolChanged ( Tool tool) [protected, slot]

Definition at line 578 of file visualization_manager.cpp.

void rviz::VisualizationManager::onUpdate ( ) [protected, slot]

Call update() on all managed objects.

This is the central place where update() is called on most rviz objects. Display objects, the FrameManager, the current ViewController, the SelectionManager, PropertyManager. Also calls ros::spinOnce(), so any callbacks on the global CallbackQueue get called from here as well.

It is called at 30Hz from the update timer.

Definition at line 305 of file visualization_manager.cpp.

Emitted before updating all Displays.

Queues a render. Multiple calls before a render happens will only cause a single render.

Note:
This function can be called from any thread.

Implements rviz::DisplayContext.

Definition at line 300 of file visualization_manager.cpp.

Remove and delete all displays.

Definition at line 441 of file visualization_manager.cpp.

Resets the wall and ROS elapsed time to zero and calls resetDisplays().

Definition at line 423 of file visualization_manager.cpp.

void rviz::VisualizationManager::save ( Config  config) const

Save the properties of each Display and most editable rviz data.

This is what is called when saving a "*.vcg" file.

Parameters:
configThe object to write to.
See also:
loadDisplayConfig()

Definition at line 467 of file visualization_manager.cpp.

void rviz::VisualizationManager::setFixedFrame ( const QString &  frame)

Set the coordinate frame we should be transforming all fixed data into.

Parameters:
frameThe name of the frame -- must match the frame name broadcast to libTF
See also:
getFixedFrame()

Definition at line 595 of file visualization_manager.cpp.

virtual void rviz::VisualizationManager::setHelpPath ( const QString &  help_path) [inline, virtual]

Definition at line 316 of file visualization_manager.h.

void rviz::VisualizationManager::setStatus ( const QString &  message) [virtual]

Set the message displayed in the status bar

Implements rviz::DisplayContext.

Definition at line 600 of file visualization_manager.cpp.

Start timers. Creates and starts the update and idle timers, both set to 30Hz (33ms).

Definition at line 264 of file visualization_manager.cpp.

void rviz::VisualizationManager::statusUpdate ( const QString &  message) [signal]

Emitted during file-loading and initialization to indicate progress.

Definition at line 270 of file visualization_manager.cpp.

Definition at line 565 of file visualization_manager.cpp.

Unlock a mutex, allowing calls to Ogre::Root::renderOneFrame().

Definition at line 254 of file visualization_manager.cpp.

Definition at line 506 of file visualization_manager.cpp.

Definition at line 582 of file visualization_manager.cpp.

void rviz::VisualizationManager::updateFps ( ) [private, slot]

Definition at line 513 of file visualization_manager.cpp.

Definition at line 388 of file visualization_manager.cpp.

Definition at line 371 of file visualization_manager.cpp.

Implements rviz::DisplayContext.

Definition at line 312 of file visualization_manager.h.


Member Data Documentation

Definition at line 379 of file visualization_manager.h.

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Definition at line 361 of file visualization_manager.h.

Frame to transform fixed data to.

Definition at line 368 of file visualization_manager.h.

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Update stopwatch. Stores how long it's been since the last update.

Definition at line 356 of file visualization_manager.h.

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Definition at line 393 of file visualization_manager.h.

Ogre::Root* rviz::VisualizationManager::ogre_root_ [protected]

Ogre Root.

Definition at line 352 of file visualization_manager.h.

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

Ogre scene manager associated with this panel.

Definition at line 353 of file visualization_manager.h.

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volatile bool rviz::VisualizationManager::shutting_down_ [protected]

Definition at line 359 of file visualization_manager.h.

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Update timer. Display::update is called on each display whenever this timer fires.

Definition at line 355 of file visualization_manager.h.

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


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Jun 6 2019 18:02:17