Displays a map along the XY plane. More...

#include <map_display.h>

Inheritance diagram for rviz::MapDisplay:

Signals
void	mapUpdated ()
	Emitted when a new map is received.
Public Member Functions
virtual void	fixedFrameChanged ()
	Called by setFixedFrame(). Override to respond to changes to fixed_frame_.
int	getHeight ()
float	getResolution ()
int	getWidth ()
	MapDisplay ()
virtual void	onInitialize ()
	Override this function to do subclass-specific initialization.
virtual void	reset ()
	Called to tell the display to clear its state.
virtual void	setTopic (const QString &topic, const QString &datatype)
	Set the ROS topic to listen to for this display.
virtual	~MapDisplay ()
Protected Slots
void	showMap ()
	Show current_map_ in the scene.
void	updateAlpha ()
void	updateDrawUnder ()
void	updatePalette ()
void	updateTopic ()
Protected Member Functions
void	clear ()
void	incomingMap (const nav_msgs::OccupancyGrid::ConstPtr &msg)
	Copy msg into current_map_ and call showMap().
void	incomingUpdate (const map_msgs::OccupancyGridUpdate::ConstPtr &update)
	Copy update's data into current_map_ and call showMap().
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.
virtual void	subscribe ()
void	transformMap ()
virtual void	unsubscribe ()
virtual void	update (float wall_dt, float ros_dt)
	Called periodically by the visualization manager.
Protected Attributes
FloatProperty *	alpha_property_
EnumProperty *	color_scheme_property_
std::vector< bool >	color_scheme_transparency_
nav_msgs::OccupancyGrid	current_map_
Property *	draw_under_property_
std::string	frame_
int	height_
IntProperty *	height_property_
bool	loaded_
Ogre::ManualObject *	manual_object_
ros::Subscriber	map_sub_
Ogre::MaterialPtr	material_
QuaternionProperty *	orientation_property_
std::vector< Ogre::TexturePtr >	palette_textures_
VectorProperty *	position_property_
float	resolution_
FloatProperty *	resolution_property_
Ogre::TexturePtr	texture_
std::string	topic_
RosTopicProperty *	topic_property_
BoolProperty *	unreliable_property_
ros::Subscriber	update_sub_
int	width_
IntProperty *	width_property_

Detailed Description

Displays a map along the XY plane.

Definition at line 70 of file map_display.h.

Constructor & Destructor Documentation

rviz::MapDisplay::MapDisplay ( )

Definition at line 62 of file map_display.cpp.

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

Definition at line 122 of file map_display.cpp.

Member Function Documentation

void rviz::MapDisplay::clear ( ) [protected]

Definition at line 452 of file map_display.cpp.

void rviz::MapDisplay::fixedFrameChanged ( ) [virtual]

Called by setFixedFrame(). Override to respond to changes to fixed_frame_.

Reimplemented from rviz::Display.

Definition at line 724 of file map_display.cpp.

int rviz::MapDisplay::getHeight ( ) [inline]

Definition at line 84 of file map_display.h.

float rviz::MapDisplay::getResolution ( ) [inline]

Definition at line 82 of file map_display.h.

int rviz::MapDisplay::getWidth ( ) [inline]

Definition at line 83 of file map_display.h.

void rviz::MapDisplay::incomingMap ( const nav_msgs::OccupancyGrid::ConstPtr & msg ) [protected]

Copy msg into current_map_ and call showMap().

Definition at line 483 of file map_display.cpp.

void rviz::MapDisplay::incomingUpdate ( const map_msgs::OccupancyGridUpdate::ConstPtr & update ) [protected]

Copy update's data into current_map_ and call showMap().

Definition at line 492 of file map_display.cpp.

void rviz::MapDisplay::mapUpdated ( ) [signal]

Emitted when a new map is received.

void rviz::MapDisplay::onDisable ( ) [protected, virtual]

Derived classes override this to do the actual work of disabling themselves.

Reimplemented from rviz::Display.

Definition at line 334 of file map_display.cpp.

void rviz::MapDisplay::onEnable ( ) [protected, virtual]

Derived classes override this to do the actual work of enabling themselves.

Reimplemented from rviz::Display.

Definition at line 329 of file map_display.cpp.

void rviz::MapDisplay::onInitialize ( ) [virtual]

Override this function to do subclass-specific initialization.

This is called after vis_manager_ and scene_manager_ are set, and before load() or setEnabled().

setName() may or may not have been called before this.

Reimplemented from rviz::Display.

Definition at line 249 of file map_display.cpp.

void rviz::MapDisplay::reset ( ) [virtual]

Called to tell the display to clear its state.

Reimplemented from rviz::Display.

Definition at line 729 of file map_display.cpp.

void rviz::MapDisplay::setTopic	(	const QString &	topic,
		const QString &	datatype
	)		`[virtual]`

Set the ROS topic to listen to for this display.

By default, do nothing. Subclasses should override this method if they subscribe to a single ROS topic.

setTopic() is used by the "New display by topic" window; it is called with a user selected topic and its type.

Parameters:

topic	The published topic to be visualized.
datatype	The datatype of the topic.

Reimplemented from rviz::Display.

Definition at line 738 of file map_display.cpp.

void rviz::MapDisplay::showMap ( ) [protected, slot]

Show current_map_ in the scene.

Definition at line 521 of file map_display.cpp.

void rviz::MapDisplay::subscribe ( ) [protected, virtual]

Definition at line 340 of file map_display.cpp.

void rviz::MapDisplay::transformMap ( ) [protected]

Definition at line 698 of file map_display.cpp.

void rviz::MapDisplay::unsubscribe ( ) [protected, virtual]

Definition at line 376 of file map_display.cpp.

void rviz::MapDisplay::update	(	float	wall_dt,
		float	ros_dt
	)		`[protected, virtual]`

Called periodically by the visualization manager.

Parameters:

wall_dt	Wall-clock time, in seconds, since the last time the update list was run through.
ros_dt	ROS time, in seconds, since the last time the update list was run through.

Reimplemented from rviz::Display.

Definition at line 743 of file map_display.cpp.

void rviz::MapDisplay::updateAlpha ( ) [protected, slot]

Definition at line 398 of file map_display.cpp.

void rviz::MapDisplay::updateDrawUnder ( ) [protected, slot]

Definition at line 423 of file map_display.cpp.

void rviz::MapDisplay::updatePalette ( ) [protected, slot]

Definition at line 678 of file map_display.cpp.

void rviz::MapDisplay::updateTopic ( ) [protected, slot]

Definition at line 445 of file map_display.cpp.