Uses a robot xml description to display the pieces of a robot at the transforms broadcast by rosTF. More...

#include <robot_model_display.h>

Inheritance diagram for rviz::RobotModelDisplay:

Public Member Functions
void	clear ()
virtual void	fixedFrameChanged ()
	Called by setFixedFrame(). Override to respond to changes to fixed_frame_.
virtual void	onInitialize ()
	Override this function to do subclass-specific initialization.
virtual void	reset ()
	Called to tell the display to clear its state.
	RobotModelDisplay ()
virtual void	update (float wall_dt, float ros_dt)
	Called periodically by the visualization manager.
virtual	~RobotModelDisplay ()
Protected Member Functions
virtual void	load ()
	Loads a URDF from the ros-param named by our "Robot Description" property, iterates through the links, and loads any necessary models.
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.
Protected Attributes
FloatProperty *	alpha_property_
Property *	collision_enabled_property_
bool	has_new_transforms_
	Callback sets this to tell our update function it needs to update the transforms.
Robot *	robot_
	Handles actually drawing the robot.
std::string	robot_description_
StringProperty *	robot_description_property_
StringProperty *	tf_prefix_property_
float	time_since_last_transform_
FloatProperty *	update_rate_property_
Property *	visual_enabled_property_
Private Slots
void	updateAlpha ()
void	updateCollisionVisible ()
void	updateRobotDescription ()
void	updateTfPrefix ()
void	updateVisualVisible ()

Detailed Description

Uses a robot xml description to display the pieces of a robot at the transforms broadcast by rosTF.

Definition at line 62 of file robot_model_display.h.

Constructor & Destructor Documentation

rviz::RobotModelDisplay::RobotModelDisplay ( )

Definition at line 57 of file robot_model_display.cpp.

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

Definition at line 92 of file robot_model_display.cpp.

Member Function Documentation

void rviz::RobotModelDisplay::clear ( )

Definition at line 235 of file robot_model_display.cpp.

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

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

Reimplemented from rviz::Display.

Definition at line 230 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::load ( ) [protected, virtual]

Loads a URDF from the ros-param named by our "Robot Description" property, iterates through the links, and loads any necessary models.

Definition at line 142 of file robot_model_display.cpp.

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

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

Reimplemented from rviz::Display.

Definition at line 206 of file robot_model_display.cpp.

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

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

Reimplemented from rviz::Display.

Definition at line 200 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::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 100 of file robot_model_display.cpp.

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

Called to tell the display to clear its state.

Reimplemented from rviz::Display.

Definition at line 242 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::update	(	float	wall_dt,
		float	ros_dt
	)		`[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 212 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::updateAlpha ( ) [private, slot]

Definition at line 109 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::updateCollisionVisible ( ) [private, slot]

Definition at line 130 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::updateRobotDescription ( ) [private, slot]

Definition at line 115 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::updateTfPrefix ( ) [private, slot]

Definition at line 136 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::updateVisualVisible ( ) [private, slot]

Definition at line 124 of file robot_model_display.cpp.