Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions
rviz_visual_tools::RvizVisualTools Class Reference

#include <rviz_visual_tools.h>

List of all members.

Public Member Functions

Eigen::Vector3d convertPoint (const geometry_msgs::Point &point)
 Convert a geometry_msg point to an Eigen point Note: Not thread safe but very convenient.
geometry_msgs::Point convertPoint (const geometry_msgs::Vector3 &point)
 Convert a Vector3 to a geometry_msg Point Note: Not thread safe but very convenient.
geometry_msgs::Point convertPoint (const Eigen::Vector3d &point)
 Convert a Eigen point to a geometry_msg Point Note: Not thread safe but very convenient.
Eigen::Vector3d convertPoint32 (const geometry_msgs::Point32 &point)
 Convert a geometry_msg point to an Eigen point Note: Not thread safe but very convenient.
geometry_msgs::Point32 convertPoint32 (const Eigen::Vector3d &point)
 Convert an Eigen point to a 32 bit geometry_msg point Note: Not thread safe but very convenient.
Eigen::Affine3d convertPoint32ToPose (const geometry_msgs::Point32 &point)
 Convert a geometry_msg point (32bit) to an Eigen pose Note: Not thread safe but very convenient.
geometry_msgs::Pose convertPointToPose (const geometry_msgs::Point &point)
 Add an identity rotation matrix to make a point have a full pose.
Eigen::Affine3d convertPointToPose (const Eigen::Vector3d &point)
geometry_msgs::Pose convertPose (const Eigen::Affine3d &pose)
 Convert an Eigen pose to a geometry_msg pose Note: Not thread safe but very convenient.
Eigen::Affine3d convertPose (const geometry_msgs::Pose &pose)
 Convert a geometry_msg pose to an Eigen pose Note: Not thread safe but very convenient.
geometry_msgs::Point convertPoseToPoint (const Eigen::Affine3d &pose)
 Convert an Eigen pose to a geometry_msg point Note: Not thread safe but very convenient.
std_msgs::ColorRGBA createRandColor ()
 Create a random color that is not too light.
bool deleteAllMarkers ()
 Tell Rviz to clear all markers on a particular display. Note: only works on ROS Indigo and newer.
void enableBatchPublishing (bool enable=true)
 Enable batch publishing - useful for when many markers need to be published at once and the ROS topic can get overloaded. This collects all published markers into array and only publishes them with triggerBatchPublish() is called.
void generateEmptyPose (geometry_msgs::Pose &pose)
 Create a pose of position (0,0,0) and quaternion (0,0,0,1)
void generateRandomCuboid (geometry_msgs::Pose &cuboid_pose, double &depth, double &width, double &height, RandomPoseBounds pose_bounds=RandomPoseBounds(), RandomCuboidBounds cuboid_bounds=RandomCuboidBounds())
 Create a random rectangular cuboid of some shape.
void generateRandomPose (geometry_msgs::Pose &pose, RandomPoseBounds pose_bounds=RandomPoseBounds())
 Create a random pose within bounds of random_pose_bounds_.
void generateRandomPose (Eigen::Affine3d &pose, RandomPoseBounds pose_bounds=RandomPoseBounds())
const std::string getBaseFrame ()
 Get the base frame.
Eigen::Vector3d getCenterPoint (Eigen::Vector3d a, Eigen::Vector3d b)
 Find the center between to points.
std_msgs::ColorRGBA getColor (const colors &color)
 Get the RGB value of standard colors.
std_msgs::ColorRGBA getColorScale (double value)
 Convert a value from [0,1] to a color Green->Red.
double getGlobalScale ()
 Getter for the global scale used for changing size of all markers.
const bool & getPsychedelicMode () const
 Getter for PsychedelicMode.
colors getRandColor ()
 Get a random color from the list of hardcoded enum color types.
geometry_msgs::Vector3 getScale (const scales &scale, bool arrow_scale=false, double marker_scale=1.0)
 Get the rviz marker scale of standard sizes.
Eigen::Affine3d getVectorBetweenPoints (Eigen::Vector3d a, Eigen::Vector3d b)
 Create a vector that points from point a to point b.
void loadMarkerPub (bool wait_for_subscriber=false, bool latched=false)
 Load publishers as needed.
bool loadRvizMarkers ()
 Pre-load rviz markers for better efficiency.
bool posesEqual (const Eigen::Affine3d &pose1, const Eigen::Affine3d &pose2, const double &threshold=0.000001)
 Test if two Eigen poses are close enough.
bool publishArrow (const Eigen::Affine3d &pose, const colors &color=BLUE, const scales &scale=REGULAR, double length=0.1, const std::size_t &id=0)
 Display an arrow along the x-axis of a pose.
bool publishArrow (const geometry_msgs::Pose &pose, const colors &color=BLUE, const scales &scale=REGULAR, double length=0.1, const std::size_t &id=0)
bool publishArrow (const geometry_msgs::PoseStamped &pose, const colors &color=BLUE, const scales &scale=REGULAR, double length=0.1, const std::size_t &id=0)
bool publishAxis (const geometry_msgs::Pose &pose, double length=0.1, double radius=0.01, const std::string &ns="Axis")
 Display a marker of a axis.
bool publishAxis (const Eigen::Affine3d &pose, double length=0.1, double radius=0.01, const std::string &ns="Axis")
bool publishAxisLabeled (const Eigen::Affine3d &pose, const std::string &label, const scales &scale=SMALL, const colors &color=WHITE)
 Display a marker of a axis with a text label describing it.
bool publishAxisLabeled (const geometry_msgs::Pose &pose, const std::string &label, const scales &scale=SMALL, const colors &color=WHITE)
bool publishBlock (const geometry_msgs::Pose &pose, const colors &color=BLUE, const double &block_size=0.1)
 Display a marker of a block.
RVIZ_VISUAL_TOOLS_DEPRECATED bool publishBlock (const Eigen::Affine3d &pose, const colors &color=BLUE, const double &block_size=0.1)
bool publishCone (const Eigen::Affine3d &pose, double angle, const rviz_visual_tools::colors &color=TRANSLUCENT, double scale=1.0)
 Display a cone of a given angle along the x-axis.
bool publishCone (const geometry_msgs::Pose &pose, double angle, const rviz_visual_tools::colors &color=TRANSLUCENT, double scale=1.0)
bool publishCuboid (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const colors &color=BLUE)
 Display a rectangular cuboid.
bool publishCuboid (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const colors &color=BLUE, const std::string &ns="Cuboid", const std::size_t &id=0)
bool publishCuboid (const geometry_msgs::Pose &pose, const double depth, const double width, const double height, const colors &color=BLUE)
 Display a rectangular cuboid.
bool publishCuboid (const Eigen::Affine3d &pose, const double depth, const double width, const double height, const colors &color=BLUE)
bool publishCylinder (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const colors &color=BLUE, double radius=0.01, const std::string &ns="Cylinder")
 Display a marker of a cylinder.
bool publishCylinder (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, double radius=0.01, const std::string &ns="Cylinder")
bool publishCylinder (const Eigen::Affine3d &pose, const colors &color=BLUE, double height=0.1, double radius=0.01, const std::string &ns="Cylinder")
 Display a marker of a cylinder.
bool publishCylinder (const geometry_msgs::Pose &pose, const colors &color=BLUE, double height=0.1, double radius=0.01, const std::string &ns="Cylinder")
bool publishCylinder (const geometry_msgs::Pose &pose, const std_msgs::ColorRGBA &color, double height=0.1, double radius=0.01, const std::string &ns="Cylinder")
bool publishGraph (const graph_msgs::GeometryGraph &graph, const colors &color, double radius)
 Display a graph.
bool publishLine (const Eigen::Affine3d &point1, const Eigen::Affine3d &point2, const colors &color=BLUE, const scales &scale=REGULAR)
 Display a marker of line.
bool publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const colors &color=BLUE, const scales &scale=REGULAR)
bool publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const colors &color, const double &radius)
bool publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, const scales &scale=REGULAR)
bool publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, const double &radius)
bool publishLine (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const colors &color=BLUE, const scales &scale=REGULAR)
bool publishLine (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const std_msgs::ColorRGBA &color, const scales &scale=REGULAR)
bool publishLine (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const std_msgs::ColorRGBA &color, const geometry_msgs::Vector3 &scale)
bool publishMarker (visualization_msgs::Marker &marker)
 Display a visualization_msgs Marker of a custom type. Allows reuse of the ros publisher.
bool publishMarkers (visualization_msgs::MarkerArray &markers)
 Display an array of markers, allows reuse of the ROS publisher.
bool publishMesh (const Eigen::Affine3d &pose, const std::string &file_name, const colors &color=CLEAR, double scale=1, const std::string &ns="mesh", const std::size_t &id=0)
 Display a mesh from file.
bool publishMesh (const geometry_msgs::Pose &pose, const std::string &file_name, const colors &color=CLEAR, double scale=1, const std::string &ns="mesh", const std::size_t &id=0)
bool publishPath (const std::vector< geometry_msgs::Point > &path, const colors &color=RED, const scales &scale=REGULAR, const std::string &ns="Path")
 Display a marker of a series of connected lines.
bool publishPath (const std::vector< Eigen::Vector3d > &path, const colors &color=RED, const double radius=0.01, const std::string &ns="Path")
bool publishPolygon (const geometry_msgs::Polygon &polygon, const colors &color=RED, const scales &scale=REGULAR, const std::string &ns="Polygon")
 Display a marker of a polygon.
bool publishSphere (const Eigen::Affine3d &pose, const colors &color=BLUE, const scales &scale=REGULAR, const std::string &ns="Sphere", const std::size_t &id=0)
 Display a marker of a sphere.
bool publishSphere (const Eigen::Vector3d &point, const colors &color=BLUE, const scales &scale=REGULAR, const std::string &ns="Sphere", const std::size_t &id=0)
bool publishSphere (const Eigen::Vector3d &point, const colors &color, const double scale, const std::string &ns="Sphere", const std::size_t &id=0)
bool publishSphere (const geometry_msgs::Point &point, const colors &color=BLUE, const scales &scale=REGULAR, const std::string &ns="Sphere", const std::size_t &id=0)
bool publishSphere (const geometry_msgs::Pose &pose, const colors &color=BLUE, const scales &scale=REGULAR, const std::string &ns="Sphere", const std::size_t &id=0)
bool publishSphere (const geometry_msgs::Pose &pose, const colors &color, const double scale, const std::string &ns="Sphere", const std::size_t &id=0)
bool publishSphere (const geometry_msgs::Pose &pose, const colors &color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", const std::size_t &id=0)
bool publishSphere (const geometry_msgs::Pose &pose, const std_msgs::ColorRGBA &color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", const std::size_t &id=0)
bool publishSphere (const Eigen::Affine3d &pose, const std_msgs::ColorRGBA &color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", const std::size_t &id=0)
bool publishSphere (const geometry_msgs::PoseStamped &pose, const colors &color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", const std::size_t &id=0)
bool publishSpheres (const std::vector< Eigen::Vector3d > &points, const colors &color=BLUE, const double scale=0.1, const std::string &ns="Spheres")
 Display a marker of a series of spheres.
bool publishSpheres (const std::vector< geometry_msgs::Point > &points, const colors &color=BLUE, const double scale=0.1, const std::string &ns="Spheres")
bool publishSpheres (const std::vector< geometry_msgs::Point > &points, const colors &color=BLUE, const scales &scale=REGULAR, const std::string &ns="Spheres")
bool publishSpheres (const std::vector< geometry_msgs::Point > &points, const colors &color, const geometry_msgs::Vector3 &scale, const std::string &ns="Spheres")
RVIZ_VISUAL_TOOLS_DEPRECATED bool publishTests ()
 Run a simple test of all visual_tool's features.
bool publishText (const Eigen::Affine3d &pose, const std::string &text, const colors &color=WHITE, const scales &scale=REGULAR, bool static_id=true)
 Display a marker of a text.
bool publishText (const Eigen::Affine3d &pose, const std::string &text, const colors &color, const geometry_msgs::Vector3 scale, bool static_id=true)
bool publishText (const geometry_msgs::Pose &pose, const std::string &text, const colors &color=WHITE, const scales &scale=REGULAR, bool static_id=true)
bool publishText (const geometry_msgs::Pose &pose, const std::string &text, const colors &color, const geometry_msgs::Vector3 scale, bool static_id=true)
bool publishWireframeCuboid (const Eigen::Affine3d &pose, double depth, double width, double height, const rviz_visual_tools::colors &color=BLUE, const std::string &ns="Wireframe Cuboid", const std::size_t &id=0)
 Publish transformed wireframe cuboid. Useful eg to show an oriented bounding box.
bool publishWireframeCuboid (const Eigen::Affine3d &pose, const Eigen::Vector3d &min_point, const Eigen::Vector3d &max_point, const rviz_visual_tools::colors &color=BLUE, const std::string &ns="Wireframe Cuboid", const std::size_t &id=0)
 Publish transformed wireframe cuboid. Useful eg to show an oriented bounding box.
bool publishWireframeRectangle (const Eigen::Affine3d &pose, const double &height, const double &width, const colors &color=BLUE, const scales &scale=REGULAR, const std::size_t &id=0)
 Publish outline of a rectangle.
bool publishWireframeRectangle (const Eigen::Affine3d &pose, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2, const Eigen::Vector3d &p3, const Eigen::Vector3d &p4, const colors &color, const scales &scale)
bool publishXArrow (const Eigen::Affine3d &pose, const colors &color=RED, const scales &scale=REGULAR, double length=0.1)
 Display an arrow along the x-axis of a pose.
bool publishXArrow (const geometry_msgs::Pose &pose, const colors &color=RED, const scales &scale=REGULAR, double length=0.1)
bool publishXArrow (const geometry_msgs::PoseStamped &pose, const colors &color=RED, const scales &scale=REGULAR, double length=0.1)
bool publishXYPlane (const Eigen::Affine3d &pose, const rviz_visual_tools::colors &color=TRANSLUCENT, double scale=1.0)
 Display the XY plane of a given pose.
bool publishXYPlane (const geometry_msgs::Pose &pose, const rviz_visual_tools::colors &color=TRANSLUCENT, double scale=1.0)
bool publishXZPlane (const Eigen::Affine3d &pose, const rviz_visual_tools::colors &color=TRANSLUCENT, double scale=1.0)
 Display the XY plane of a given pose.
bool publishXZPlane (const geometry_msgs::Pose &pose, const rviz_visual_tools::colors &color=TRANSLUCENT, double scale=1.0)
bool publishYArrow (const Eigen::Affine3d &pose, const colors &color=GREEN, const scales &scale=REGULAR, double length=0.1)
 Display an arrow along the y-axis of a pose.
bool publishYArrow (const geometry_msgs::Pose &pose, const colors &color=GREEN, const scales &scale=REGULAR, double length=0.1)
bool publishYArrow (const geometry_msgs::PoseStamped &pose, const colors &color=GREEN, const scales &scale=REGULAR, double length=0.1)
bool publishYZPlane (const Eigen::Affine3d &pose, const rviz_visual_tools::colors &color=TRANSLUCENT, double scale=1.0)
 Display the XY plane of a given pose.
bool publishYZPlane (const geometry_msgs::Pose &pose, const rviz_visual_tools::colors &color=TRANSLUCENT, double scale=1.0)
bool publishZArrow (const Eigen::Affine3d &pose, const colors &color=BLUE, const scales &scale=REGULAR, double length=0.1, const std::size_t &id=0)
 Display an arrow along the z-axis of a pose.
bool publishZArrow (const geometry_msgs::Pose &pose, const colors &color=BLUE, const scales &scale=REGULAR, double length=0.1)
bool publishZArrow (const geometry_msgs::PoseStamped &pose, const colors &color=BLUE, const scales &scale=REGULAR, double length=0.1)
bool publishZArrow (const geometry_msgs::PoseStamped &pose, const colors &color=BLUE, const scales &scale=REGULAR, double length=0.1, const std::size_t &id=0)
void resetMarkerCounts ()
 Reset the id's of all published markers so that they overwrite themselves in the future NOTE you may prefer deleteAllMarkers()
 RvizVisualTools (const std::string &base_frame, const std::string &marker_topic=RVIZ_MARKER_TOPIC)
 Constructor.
void setAlpha (double alpha)
 Change the transparency of all markers published.
void setBaseFrame (const std::string &base_frame)
 Change the global base frame Note: this might reset all your current markers.
void setFloorToBaseHeight (double floor_to_base_height)
 Allows an offset between base link and floor where objects are built. Default is zero.
void setGlobalScale (double global_scale)
 Setter for the global scale used for changing size of all markers.
void setLifetime (double lifetime)
 Set the lifetime of markers published to rviz.
void setMarkerTopic (const std::string &topic)
 Set marker array topic.
void setPsychedelicMode (const bool &psychedelic_mode=true)
 Setter for PsychedelicMode.
double slerp (double start, double end, double range, double value)
 Interpolate from [start, end] with value of size steps with current value count.
bool triggerBatchPublish ()
 Trigger the publish function to send out all collected markers.
bool triggerBatchPublishAndDisable ()
 Trigger the publish function to send out all collected markers. Also then turns off the batch mode. This is safer incase programmer forgets.
void waitForMarkerPub ()
 Optional blocking function to call *after* calling loadMarkerPub(). Allows you to do some intermediate processing before wasting cycles waiting for the marker pub to find a subscriber.
bool waitForSubscriber (const ros::Publisher &pub, const double &wait_time=0.5, const bool blocking=false)
 Wait until at least one subscriber connects to a publisher.
 ~RvizVisualTools ()
 Deconstructor.

Static Public Member Functions

static Eigen::Affine3d convertFromXYZRPY (const double &x, const double &y, const double &z, const double &roll, const double &pitch, const double &yaw)
 Convert a 6-vector of x,y,z, roll,pitch,yall to an Affine3d with quaternion using Euler R-P-Y / X-Y-Z / 0-1-2 Euler Angle Standard.
static Eigen::Affine3d convertFromXYZRPY (std::vector< double > transform6)
static void convertPoseSafe (const Eigen::Affine3d &pose, geometry_msgs::Pose &pose_msg)
 Convert an Eigen pose to a geometry_msg pose - thread safe.
static void convertToXYZRPY (const Eigen::Affine3d &pose, std::vector< double > &xyzrpy)
 Convert an affine3d to xyz rpy components R-P-Y / X-Y-Z / 0-1-2 Euler Angle Standard.
static void convertToXYZRPY (const Eigen::Affine3d &pose, double &x, double &y, double &z, double &roll, double &pitch, double &yaw)
static double dRand (double min, double max)
 Get random between min and max.
static float fRand (float min, float max)
static int iRand (int min, int max)
static void printTransform (const Eigen::Affine3d &transform)
 Display in the console a transform in quaternions.
static void printTransformRPY (const Eigen::Affine3d &transform)
 Display in the console a transform in roll pitch yaw.

Protected Member Functions

void enableInternalBatchPublishing (bool enable)
 Allows certain marker functions to batch publish without breaking external functinality.
bool triggerInternalBatchPublishAndDisable ()
 Trigger the publish function to send out all collected markers. Also then turns off the batch mode. This is safer incase programmer forgets. This is the internal version.

Protected Attributes

double alpha_
visualization_msgs::Marker arrow_marker_
std::string base_frame_
bool batch_publishing_enabled_
visualization_msgs::Marker block_marker_
visualization_msgs::Marker cuboid_marker_
visualization_msgs::Marker cylinder_marker_
double global_scale_
bool internal_batch_publishing_enabled_
visualization_msgs::Marker line_list_marker_
visualization_msgs::Marker line_strip_marker_
ros::Duration marker_lifetime_
std::string marker_topic_
visualization_msgs::MarkerArray markers_
visualization_msgs::Marker mesh_marker_
std::string name_
ros::NodeHandle nh_
bool psychedelic_mode_
ros::Publisher pub_rviz_markers_
bool pub_rviz_markers_connected_
bool pub_rviz_markers_waited_
visualization_msgs::Marker reset_marker_
geometry_msgs::Point32 shared_point32_msg_
Eigen::Vector3d shared_point_eigen_
geometry_msgs::Point shared_point_msg_
Eigen::Affine3d shared_pose_eigen_
geometry_msgs::Pose shared_pose_msg_
visualization_msgs::Marker sphere_marker_
visualization_msgs::Marker spheres_marker_
visualization_msgs::Marker text_marker_
visualization_msgs::Marker triangle_marker_

Private Member Functions

void initialize ()
 Shared function for initilization by constructors.

Detailed Description

Definition at line 162 of file rviz_visual_tools.h.

Constructor & Destructor Documentation

rviz_visual_tools::RvizVisualTools::RvizVisualTools ( const std::string &  base_frame,
const std::string &  marker_topic = RVIZ_MARKER_TOPIC 
) [explicit]

Constructor.

Parameters:
base_frame- common base for all visualization markers, usually "/world" or "/odom"
marker_topic- rostopic to publish markers to - your Rviz display should match

Definition at line 54 of file rviz_visual_tools.cpp.

rviz_visual_tools::RvizVisualTools::~RvizVisualTools ( ) [inline]

Deconstructor.

Definition at line 180 of file rviz_visual_tools.h.

Member Function Documentation

Eigen::Affine3d rviz_visual_tools::RvizVisualTools::convertFromXYZRPY ( const double &  x,
const double &  y,
const double &  z,
const double &  roll,
const double &  pitch,
const double &  yaw 
) [static]

Convert a 6-vector of x,y,z, roll,pitch,yall to an Affine3d with quaternion using Euler R-P-Y / X-Y-Z / 0-1-2 Euler Angle Standard.

Returns:
4x4 matrix in form of affine3d

Definition at line 2136 of file rviz_visual_tools.cpp.

Eigen::Affine3d rviz_visual_tools::RvizVisualTools::convertFromXYZRPY ( std::vector< double >  transform6) [static]

Definition at line 2124 of file rviz_visual_tools.cpp.

Eigen::Vector3d rviz_visual_tools::RvizVisualTools::convertPoint ( const geometry_msgs::Point &  point)

Convert a geometry_msg point to an Eigen point Note: Not thread safe but very convenient.

Parameters:
point
Returns:
converted pose

Definition at line 2084 of file rviz_visual_tools.cpp.

geometry_msgs::Point rviz_visual_tools::RvizVisualTools::convertPoint ( const geometry_msgs::Vector3 &  point)

Convert a Vector3 to a geometry_msg Point Note: Not thread safe but very convenient.

Parameters:
point
Returns:
converted point

Definition at line 2108 of file rviz_visual_tools.cpp.

geometry_msgs::Point rviz_visual_tools::RvizVisualTools::convertPoint ( const Eigen::Vector3d &  point)

Convert a Eigen point to a geometry_msg Point Note: Not thread safe but very convenient.

Parameters:
point
Returns:
converted point

Definition at line 2116 of file rviz_visual_tools.cpp.

Eigen::Vector3d rviz_visual_tools::RvizVisualTools::convertPoint32 ( const geometry_msgs::Point32 &  point)

Convert a geometry_msg point to an Eigen point Note: Not thread safe but very convenient.

Parameters:
point
Returns:
converted pose

Definition at line 2092 of file rviz_visual_tools.cpp.

geometry_msgs::Point32 rviz_visual_tools::RvizVisualTools::convertPoint32 ( const Eigen::Vector3d &  point)

Convert an Eigen point to a 32 bit geometry_msg point Note: Not thread safe but very convenient.

Parameters:
point
Returns:
converted pose

Definition at line 2100 of file rviz_visual_tools.cpp.

Eigen::Affine3d rviz_visual_tools::RvizVisualTools::convertPoint32ToPose ( const geometry_msgs::Point32 &  point)

Convert a geometry_msg point (32bit) to an Eigen pose Note: Not thread safe but very convenient.

Parameters:
pose
Returns:
converted point with default rotation matrix

Definition at line 2052 of file rviz_visual_tools.cpp.

geometry_msgs::Pose rviz_visual_tools::RvizVisualTools::convertPointToPose ( const geometry_msgs::Point &  point)

Add an identity rotation matrix to make a point have a full pose.

Definition at line 2061 of file rviz_visual_tools.cpp.

Eigen::Affine3d rviz_visual_tools::RvizVisualTools::convertPointToPose ( const Eigen::Vector3d &  point)

Definition at line 2071 of file rviz_visual_tools.cpp.

geometry_msgs::Pose rviz_visual_tools::RvizVisualTools::convertPose ( const Eigen::Affine3d &  pose)

Convert an Eigen pose to a geometry_msg pose Note: Not thread safe but very convenient.

Parameters:
pose
Returns:
converted pose

Definition at line 2035 of file rviz_visual_tools.cpp.

Eigen::Affine3d rviz_visual_tools::RvizVisualTools::convertPose ( const geometry_msgs::Pose &  pose)

Convert a geometry_msg pose to an Eigen pose Note: Not thread safe but very convenient.

Parameters:
pose
Returns:
converted pose

Definition at line 2046 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::convertPoseSafe ( const Eigen::Affine3d &  pose,
geometry_msgs::Pose &  pose_msg 
) [static]

Convert an Eigen pose to a geometry_msg pose - thread safe.

Parameters:
inputpose
outputconverted pose

Definition at line 2041 of file rviz_visual_tools.cpp.

geometry_msgs::Point rviz_visual_tools::RvizVisualTools::convertPoseToPoint ( const Eigen::Affine3d &  pose)

Convert an Eigen pose to a geometry_msg point Note: Not thread safe but very convenient.

Parameters:
pose
Returns:
converted point with orientation discarded

Definition at line 2078 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::convertToXYZRPY ( const Eigen::Affine3d &  pose,
std::vector< double > &  xyzrpy 
) [static]

Convert an affine3d to xyz rpy components R-P-Y / X-Y-Z / 0-1-2 Euler Angle Standard.

Parameters:
inputEigen pose
outputvector of size 6 in order xyz rpy

Definition at line 2148 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::convertToXYZRPY ( const Eigen::Affine3d &  pose,
double &  x,
double &  y,
double &  z,
double &  roll,
double &  pitch,
double &  yaw 
) [static]

Definition at line 2154 of file rviz_visual_tools.cpp.

std_msgs::ColorRGBA rviz_visual_tools::RvizVisualTools::createRandColor ( )

Create a random color that is not too light.

Returns:
the RGB message of a random color

Definition at line 504 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::deleteAllMarkers ( )

Tell Rviz to clear all markers on a particular display. Note: only works on ROS Indigo and newer.

Definition at line 77 of file rviz_visual_tools.cpp.

double rviz_visual_tools::RvizVisualTools::dRand ( double  min,
double  max 
) [static]

Get random between min and max.

Definition at line 2264 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::enableBatchPublishing ( bool  enable = true)

Enable batch publishing - useful for when many markers need to be published at once and the ROS topic can get overloaded. This collects all published markers into array and only publishes them with triggerBatchPublish() is called.

Definition at line 710 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::enableInternalBatchPublishing ( bool  enable) [protected]

Allows certain marker functions to batch publish without breaking external functinality.

Definition at line 2288 of file rviz_visual_tools.cpp.

float rviz_visual_tools::RvizVisualTools::fRand ( float  min,
float  max 
) [static]

Definition at line 2270 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::generateEmptyPose ( geometry_msgs::Pose &  pose)

Create a pose of position (0,0,0) and quaternion (0,0,0,1)

Parameters:
Poseto fill in

Definition at line 2235 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::generateRandomCuboid ( geometry_msgs::Pose &  cuboid_pose,
double &  depth,
double &  width,
double &  height,
RandomPoseBounds  pose_bounds = RandomPoseBounds(),
RandomCuboidBounds  cuboid_bounds = RandomCuboidBounds() 
)

Create a random rectangular cuboid of some shape.

Definition at line 2174 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::generateRandomPose ( geometry_msgs::Pose &  pose,
RandomPoseBounds  pose_bounds = RandomPoseBounds() 
)

Create a random pose within bounds of random_pose_bounds_.

Parameters:
Poseto fill in options bounds on the pose to generate

Definition at line 2168 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::generateRandomPose ( Eigen::Affine3d &  pose,
RandomPoseBounds  pose_bounds = RandomPoseBounds() 
)

Definition at line 2187 of file rviz_visual_tools.cpp.

const std::string rviz_visual_tools::RvizVisualTools::getBaseFrame ( ) [inline]

Get the base frame.

Returns:
name of base frame

Definition at line 309 of file rviz_visual_tools.h.

Eigen::Vector3d rviz_visual_tools::RvizVisualTools::getCenterPoint ( Eigen::Vector3d  a,
Eigen::Vector3d  b 
)

Find the center between to points.

Parameters:
pointa - x,y,z in space of a point
pointb - x,y,z in space of a point
Returns:
center point

Definition at line 638 of file rviz_visual_tools.cpp.

std_msgs::ColorRGBA rviz_visual_tools::RvizVisualTools::getColor ( const colors &  color)

Get the RGB value of standard colors.

Parameters:
color- an enum pre-defined name of a color
Returns:
the RGB message equivalent

Definition at line 373 of file rviz_visual_tools.cpp.

std_msgs::ColorRGBA rviz_visual_tools::RvizVisualTools::getColorScale ( double  value)

Convert a value from [0,1] to a color Green->Red.

Returns:
interpolated color

Definition at line 539 of file rviz_visual_tools.cpp.

double rviz_visual_tools::RvizVisualTools::getGlobalScale ( ) [inline]

Getter for the global scale used for changing size of all markers.

Definition at line 327 of file rviz_visual_tools.h.

const bool& rviz_visual_tools::RvizVisualTools::getPsychedelicMode ( ) const [inline]

Getter for PsychedelicMode.

Definition at line 916 of file rviz_visual_tools.h.

colors rviz_visual_tools::RvizVisualTools::getRandColor ( )

Get a random color from the list of hardcoded enum color types.

Returns:
Random color from rviz_visual_tools::colors

Definition at line 349 of file rviz_visual_tools.cpp.

geometry_msgs::Vector3 rviz_visual_tools::RvizVisualTools::getScale ( const scales &  scale,
bool  arrow_scale = false,
double  marker_scale = 1.0 
)

Get the rviz marker scale of standard sizes.

Parameters:
scale- an enum pre-defined name of a size
arrow_scale- they do not have an even scaling, compensate
marker_scale- amount to scale the scale for accounting for different types of markers
Returns:
vector of 3 scales

Definition at line 582 of file rviz_visual_tools.cpp.

Eigen::Affine3d rviz_visual_tools::RvizVisualTools::getVectorBetweenPoints ( Eigen::Vector3d  a,
Eigen::Vector3d  b 
)

Create a vector that points from point a to point b.

Parameters:
pointa - x,y,z in space of a point
pointb - x,y,z in space of a point
Returns:
vector from a to b

Definition at line 647 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::initialize ( ) [private]

Shared function for initilization by constructors.

Definition at line 68 of file rviz_visual_tools.cpp.

int rviz_visual_tools::RvizVisualTools::iRand ( int  min,
int  max 
) [static]

Definition at line 2276 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::loadMarkerPub ( bool  wait_for_subscriber = false,
bool  latched = false 
)

Load publishers as needed.

Parameters:
wait_for_subscriber- whether a sleep for loop should be used to check for connectivity to an external node before proceeding

Definition at line 268 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::loadRvizMarkers ( )

Pre-load rviz markers for better efficiency.

Returns:
converted pose *
true on sucess

Definition at line 98 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::posesEqual ( const Eigen::Affine3d &  pose1,
const Eigen::Affine3d &  pose2,
const double &  threshold = 0.000001 
)

Test if two Eigen poses are close enough.

Parameters:
pose1
pose2
threshold- how close in value they must be in order to be considered the same
Returns:
true if equal

Definition at line 2249 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::printTransform ( const Eigen::Affine3d &  transform) [static]

Display in the console a transform in quaternions.

Definition at line 2308 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::printTransformRPY ( const Eigen::Affine3d &  transform) [static]

Display in the console a transform in roll pitch yaw.

Definition at line 2316 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishArrow ( const Eigen::Affine3d &  pose,
const colors &  color = BLUE,
const scales &  scale = REGULAR,
double  length = 0.1,
const std::size_t &  id = 0 
)

Display an arrow along the x-axis of a pose.

Parameters:
pose- the location to publish the marker with respect to the base frame
color- an enum pre-defined name of a color
scale- an enum pre-defined name of a size
length- how long the arrow tail should be
Returns:
true on success

Definition at line 1130 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishArrow ( const geometry_msgs::Pose &  pose,
const colors &  color = BLUE,
const scales &  scale = REGULAR,
double  length = 0.1,
const std::size_t &  id = 0 
)

Definition at line 1136 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishArrow ( const geometry_msgs::PoseStamped &  pose,
const colors &  color = BLUE,
const scales &  scale = REGULAR,
double  length = 0.1,
const std::size_t &  id = 0 
)

Definition at line 1157 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishAxis ( const geometry_msgs::Pose &  pose,
double  length = 0.1,
double  radius = 0.01,
const std::string &  ns = "Axis" 
)

Display a marker of a axis.

Parameters:
pose- the location to publish the marker with respect to the base frame
length- geometry of cylinder
radius- geometry of cylinder
Returns:
true on success

Definition at line 1221 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishAxis ( const Eigen::Affine3d &  pose,
double  length = 0.1,
double  radius = 0.01,
const std::string &  ns = "Axis" 
)

Definition at line 1226 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishAxisLabeled ( const Eigen::Affine3d &  pose,
const std::string &  label,
const scales &  scale = SMALL,
const colors &  color = WHITE 
)

Display a marker of a axis with a text label describing it.

Parameters:
pose- the location to publish the marker with respect to the base frame
label- name of axis/coordinate frame
scale- size of axis
color- an enum pre-defined name of a color
Returns:
true on success

Definition at line 1206 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishAxisLabeled ( const geometry_msgs::Pose &  pose,
const std::string &  label,
const scales &  scale = SMALL,
const colors &  color = WHITE 
)

Definition at line 1211 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishBlock ( const geometry_msgs::Pose &  pose,
const colors &  color = BLUE,
const double &  block_size = 0.1 
)

Display a marker of a block.

Parameters:
pose- the location to publish the marker with respect to the base frame
color- an enum pre-defined name of a color
size- height=width=depth=size
Returns:
true on success DEPRECATED - use publishCuboid

Definition at line 1179 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishBlock ( const Eigen::Affine3d &  pose,
const colors &  color = BLUE,
const double &  block_size = 0.1 
)

Definition at line 1201 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCone ( const Eigen::Affine3d &  pose,
double  angle,
const rviz_visual_tools::colors &  color = TRANSLUCENT,
double  scale = 1.0 
)

Display a cone of a given angle along the x-axis.

Parameters:
pose- the location and orientation of the cone
color- color of the cone
scale- size of the cone
Returns:
true on success

Definition at line 771 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCone ( const geometry_msgs::Pose &  pose,
double  angle,
const rviz_visual_tools::colors &  color = TRANSLUCENT,
double  scale = 1.0 
)

Definition at line 776 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCuboid ( const Eigen::Vector3d &  point1,
const Eigen::Vector3d &  point2,
const colors &  color = BLUE 
)

Display a rectangular cuboid.

Parameters:
point1- x,y,z top corner location of box
point2- x,y,z bottom opposite corner location of box
color- an enum pre-defined name of a color
Returns:
true on success

Definition at line 1387 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCuboid ( const geometry_msgs::Point &  point1,
const geometry_msgs::Point &  point2,
const colors &  color = BLUE,
const std::string &  ns = "Cuboid",
const std::size_t &  id = 0 
)

Definition at line 1392 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCuboid ( const geometry_msgs::Pose &  pose,
const double  depth,
const double  width,
const double  height,
const colors &  color = BLUE 
)

Display a rectangular cuboid.

Parameters:
pose- pose of the box
depth- depth of the box
width- width of the box
height- height of the box
color- an enum pre-defined name of a color
Returns:
true on success

Definition at line 1436 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCuboid ( const Eigen::Affine3d &  pose,
const double  depth,
const double  width,
const double  height,
const colors &  color = BLUE 
)

Definition at line 1430 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCylinder ( const Eigen::Vector3d &  point1,
const Eigen::Vector3d &  point2,
const colors &  color = BLUE,
double  radius = 0.01,
const std::string &  ns = "Cylinder" 
)

Display a marker of a cylinder.

Parameters:
point1- starting side of cylinder
point2- end side of cylinder
color- an enum pre-defined name of a color
radius- geometry of cylinder
Returns:
true on success

Definition at line 1252 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCylinder ( const Eigen::Vector3d &  point1,
const Eigen::Vector3d &  point2,
const std_msgs::ColorRGBA &  color,
double  radius = 0.01,
const std::string &  ns = "Cylinder" 
)

Definition at line 1258 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCylinder ( const Eigen::Affine3d &  pose,
const colors &  color = BLUE,
double  height = 0.1,
double  radius = 0.01,
const std::string &  ns = "Cylinder" 
)

Display a marker of a cylinder.

Parameters:
pose- the location to publish the marker with respect to the base frame
color- an enum pre-defined name of a color
height- geometry of cylinder
radius- geometry of cylinder
Returns:
true on success

Definition at line 1280 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCylinder ( const geometry_msgs::Pose &  pose,
const colors &  color = BLUE,
double  height = 0.1,
double  radius = 0.01,
const std::string &  ns = "Cylinder" 
)

Definition at line 1286 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishCylinder ( const geometry_msgs::Pose &  pose,
const std_msgs::ColorRGBA &  color,
double  height = 0.1,
double  radius = 0.01,
const std::string &  ns = "Cylinder" 
)

Definition at line 1292 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishGraph ( const graph_msgs::GeometryGraph &  graph,
const colors &  color,
double  radius 
)

Display a graph.

Parameters:
graphof nodes and edges
color- an enum pre-defined name of a color
radius- width of cylinders
Returns:
true on success

Definition at line 1355 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishLine ( const Eigen::Affine3d &  point1,
const Eigen::Affine3d &  point2,
const colors &  color = BLUE,
const scales &  scale = REGULAR 
)

Display a marker of line.

Parameters:
point1- x,y,z of start of line
point2- x,y,z of end of line
color- an enum pre-defined name of a color
scale- an enum pre-defined name of a size
Returns:
true on success

Definition at line 1465 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishLine ( const Eigen::Vector3d &  point1,
const Eigen::Vector3d &  point2,
const colors &  color = BLUE,
const scales &  scale = REGULAR 
)

Definition at line 1471 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishLine ( const Eigen::Vector3d &  point1,
const Eigen::Vector3d &  point2,
const colors &  color,
const double &  radius 
)

Definition at line 1476 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishLine ( const Eigen::Vector3d &  point1,
const Eigen::Vector3d &  point2,
const std_msgs::ColorRGBA &  color,
const scales &  scale = REGULAR 
)

Definition at line 1486 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishLine ( const Eigen::Vector3d &  point1,
const Eigen::Vector3d &  point2,
const std_msgs::ColorRGBA &  color,
const double &  radius 
)

Definition at line 1492 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishLine ( const geometry_msgs::Point &  point1,
const geometry_msgs::Point &  point2,
const colors &  color = BLUE,
const scales &  scale = REGULAR 
)

Definition at line 1502 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishLine ( const geometry_msgs::Point &  point1,
const geometry_msgs::Point &  point2,
const std_msgs::ColorRGBA &  color,
const scales &  scale = REGULAR 
)

Definition at line 1508 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishLine ( const geometry_msgs::Point &  point1,
const geometry_msgs::Point &  point2,
const std_msgs::ColorRGBA &  color,
const geometry_msgs::Vector3 &  scale 
)

Definition at line 1514 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishMarker ( visualization_msgs::Marker &  marker)

Display a visualization_msgs Marker of a custom type. Allows reuse of the ros publisher.

Parameters:
marker- a pre-made marker ready to be published
Returns:
true on success

Definition at line 696 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishMarkers ( visualization_msgs::MarkerArray &  markers)

Display an array of markers, allows reuse of the ROS publisher.

Parameters:
markers
Returns:
true on success

Definition at line 729 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishMesh ( const Eigen::Affine3d &  pose,
const std::string &  file_name,
const colors &  color = CLEAR,
double  scale = 1,
const std::string &  ns = "mesh",
const std::size_t &  id = 0 
)

Display a mesh from file.

Parameters:
pose- the location to publish the marker with respect to the base frame
filename of mesh, starting with "file://" e.g. "file:///home/user/mesh.stl"
color- an enum pre-defined name of a color
scale- an enum pre-defined name of a size
ns- namespace of marker
id- unique counter of mesh that allows you to overwrite a previous mesh. if 0, defaults to incremental counter
Returns:
true on success

Definition at line 1315 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishMesh ( const geometry_msgs::Pose &  pose,
const std::string &  file_name,
const colors &  color = CLEAR,
double  scale = 1,
const std::string &  ns = "mesh",
const std::size_t &  id = 0 
)

Definition at line 1321 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishPath ( const std::vector< geometry_msgs::Point > &  path,
const colors &  color = RED,
const scales &  scale = REGULAR,
const std::string &  ns = "Path" 
)

Display a marker of a series of connected lines.

Parameters:
path- a series of points to connect with lines
color- an enum pre-defined name of a color
scale- an enum pre-defined name of a size
ns- namespace of marker
Returns:
true on success

Definition at line 1532 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishPath ( const std::vector< Eigen::Vector3d > &  path,
const colors &  color = RED,
const double  radius = 0.01,
const std::string &  ns = "Path" 
)

Definition at line 1566 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishPolygon ( const geometry_msgs::Polygon &  polygon,
const colors &  color = RED,
const scales &  scale = REGULAR,
const std::string &  ns = "Polygon" 
)

Display a marker of a polygon.

Parameters:
polygon- a series of points to connect with lines
color- an enum pre-defined name of a color
scale- an enum pre-defined name of a size
ns- namespace of marker
Returns:
true on success

Definition at line 1588 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere ( const Eigen::Affine3d &  pose,
const colors &  color = BLUE,
const scales &  scale = REGULAR,
const std::string &  ns = "Sphere",
const std::size_t &  id = 0 
)

Display a marker of a sphere.

Parameters:
pose- the location to publish the sphere with respect to the base frame
color- an enum pre-defined name of a color
scale- an enum pre-defined name of a size
ns- namespace of marker
id- unique counter of mesh that allows you to overwrite a previous mesh. if 0, defaults to incremental counter
Returns:
true on success

Definition at line 955 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere ( const Eigen::Vector3d &  point,
const colors &  color = BLUE,
const scales &  scale = REGULAR,
const std::string &  ns = "Sphere",
const std::size_t &  id = 0 
)

Definition at line 961 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere ( const Eigen::Vector3d &  point,
const colors &  color,
const double  scale,
const std::string &  ns = "Sphere",
const std::size_t &  id = 0 
)

Definition at line 969 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere ( const geometry_msgs::Point &  point,
const colors &  color = BLUE,
const scales &  scale = REGULAR,
const std::string &  ns = "Sphere",
const std::size_t &  id = 0 
)

Definition at line 977 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere ( const geometry_msgs::Pose &  pose,
const colors &  color = BLUE,
const scales &  scale = REGULAR,
const std::string &  ns = "Sphere",
const std::size_t &  id = 0 
)

Definition at line 985 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere ( const geometry_msgs::Pose &  pose,
const colors &  color,
const double  scale,
const std::string &  ns = "Sphere",
const std::size_t &  id = 0 
)

Definition at line 991 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere ( const geometry_msgs::Pose &  pose,
const colors &  color,
const geometry_msgs::Vector3  scale,
const std::string &  ns = "Sphere",
const std::size_t &  id = 0 
)

Definition at line 1001 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere ( const geometry_msgs::Pose &  pose,
const std_msgs::ColorRGBA &  color,
const geometry_msgs::Vector3  scale,
const std::string &  ns = "Sphere",
const std::size_t &  id = 0 
)

Definition at line 1013 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere ( const Eigen::Affine3d &  pose,
const std_msgs::ColorRGBA &  color,
const geometry_msgs::Vector3  scale,
const std::string &  ns = "Sphere",
const std::size_t &  id = 0 
)

Definition at line 1007 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSphere ( const geometry_msgs::PoseStamped &  pose,
const colors &  color,
const geometry_msgs::Vector3  scale,
const std::string &  ns = "Sphere",
const std::size_t &  id = 0 
)

Definition at line 1034 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSpheres ( const std::vector< Eigen::Vector3d > &  points,
const colors &  color = BLUE,
const double  scale = 0.1,
const std::string &  ns = "Spheres" 
)

Display a marker of a series of spheres.

Parameters:
spheres- where to publish them
color- an enum pre-defined name of a color
scale- an enum pre-defined name of a size
ns- namespace of marker
Returns:
true on success

Definition at line 1829 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSpheres ( const std::vector< geometry_msgs::Point > &  points,
const colors &  color = BLUE,
const double  scale = 0.1,
const std::string &  ns = "Spheres" 
)

Definition at line 1844 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSpheres ( const std::vector< geometry_msgs::Point > &  points,
const colors &  color = BLUE,
const scales &  scale = REGULAR,
const std::string &  ns = "Spheres" 
)

Definition at line 1854 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishSpheres ( const std::vector< geometry_msgs::Point > &  points,
const colors &  color,
const geometry_msgs::Vector3 &  scale,
const std::string &  ns = "Spheres" 
)

Definition at line 1860 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishTests ( )

Run a simple test of all visual_tool's features.

Returns:
true on success

Definition at line 1935 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishText ( const Eigen::Affine3d &  pose,
const std::string &  text,
const colors &  color = WHITE,
const scales &  scale = REGULAR,
bool  static_id = true 
)

Display a marker of a text.

Parameters:
pose- the location to publish the marker with respect to the base frame
text- what message to display
color- an enum pre-defined name of a color
scale- an enum pre-defined name of a size
static_id- if true, only one text can be published at a time
Returns:
true on success

Definition at line 1886 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishText ( const Eigen::Affine3d &  pose,
const std::string &  text,
const colors &  color,
const geometry_msgs::Vector3  scale,
bool  static_id = true 
)

Definition at line 1892 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishText ( const geometry_msgs::Pose &  pose,
const std::string &  text,
const colors &  color = WHITE,
const scales &  scale = REGULAR,
bool  static_id = true 
)

Definition at line 1898 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishText ( const geometry_msgs::Pose &  pose,
const std::string &  text,
const colors &  color,
const geometry_msgs::Vector3  scale,
bool  static_id = true 
)

Definition at line 1904 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishWireframeCuboid ( const Eigen::Affine3d &  pose,
double  depth,
double  width,
double  height,
const rviz_visual_tools::colors &  color = BLUE,
const std::string &  ns = "Wireframe Cuboid",
const std::size_t &  id = 0 
)

Publish transformed wireframe cuboid. Useful eg to show an oriented bounding box.

Parameters:
pose- cuboid vertices are transformed according to it
depth- object depth
width- object width
height- object height
color- an enum pre-defined name of a color
ns- namespace
id- unique counter of mesh that allows you to overwrite a previous mesh. if 0, defaults to incremental counter
Returns:
true on success

Definition at line 1610 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishWireframeCuboid ( const Eigen::Affine3d &  pose,
const Eigen::Vector3d &  min_point,
const Eigen::Vector3d &  max_point,
const rviz_visual_tools::colors &  color = BLUE,
const std::string &  ns = "Wireframe Cuboid",
const std::size_t &  id = 0 
)

Publish transformed wireframe cuboid. Useful eg to show an oriented bounding box.

Parameters:
pose- cuboid vertices are transformed according to it
min_point- minimum x, y, z coordinates
max_point- maximum x, y, z coordinates
color- an enum pre-defined name of a color
ns- namespace
id- unique counter that allows you to overwrite a previous marker. if 0, defaults to incremental counter
Returns:
true on success

Definition at line 1619 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishWireframeRectangle ( const Eigen::Affine3d &  pose,
const double &  height,
const double &  width,
const colors &  color = BLUE,
const scales &  scale = REGULAR,
const std::size_t &  id = 0 
)

Publish outline of a rectangle.

Parameters:
pose- cuboid vertices are transformed according to it
height
width
color- an enum pre-defined name of a color
id- unique counter that allows you to overwrite a previous marker. if 0, defaults to incremental counter
Returns:
true on success

Definition at line 1722 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishWireframeRectangle ( const Eigen::Affine3d &  pose,
const Eigen::Vector3d &  p1,
const Eigen::Vector3d &  p2,
const Eigen::Vector3d &  p3,
const Eigen::Vector3d &  p4,
const colors &  color,
const scales &  scale 
)

Definition at line 1776 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishXArrow ( const Eigen::Affine3d &  pose,
const colors &  color = RED,
const scales &  scale = REGULAR,
double  length = 0.1 
)

Display an arrow along the x-axis of a pose.

Parameters:
pose- the location to publish the marker with respect to the base frame
color- an enum pre-defined name of a color
scale- an enum pre-defined name of a size
length- the length of the arrow tail
Returns:
true on success

Definition at line 1057 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishXArrow ( const geometry_msgs::Pose &  pose,
const colors &  color = RED,
const scales &  scale = REGULAR,
double  length = 0.1 
)

Definition at line 1063 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishXArrow ( const geometry_msgs::PoseStamped &  pose,
const colors &  color = RED,
const scales &  scale = REGULAR,
double  length = 0.1 
)

Definition at line 1069 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishXYPlane ( const Eigen::Affine3d &  pose,
const rviz_visual_tools::colors &  color = TRANSLUCENT,
double  scale = 1.0 
)

Display the XY plane of a given pose.

Parameters:
pose- the position of the plane
color- the color of the plane
scale- the size of the vizualized plane
Returns:
true on success

Definition at line 817 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishXYPlane ( const geometry_msgs::Pose &  pose,
const rviz_visual_tools::colors &  color = TRANSLUCENT,
double  scale = 1.0 
)

Definition at line 822 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishXZPlane ( const Eigen::Affine3d &  pose,
const rviz_visual_tools::colors &  color = TRANSLUCENT,
double  scale = 1.0 
)

Display the XY plane of a given pose.

Parameters:
pose- the position of the plane
color- the color of the plane
scale- the size of the vizualized plane
Returns:
true on success

Definition at line 863 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishXZPlane ( const geometry_msgs::Pose &  pose,
const rviz_visual_tools::colors &  color = TRANSLUCENT,
double  scale = 1.0 
)

Definition at line 868 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishYArrow ( const Eigen::Affine3d &  pose,
const colors &  color = GREEN,
const scales &  scale = REGULAR,
double  length = 0.1 
)

Display an arrow along the y-axis of a pose.

Parameters:
pose- the location to publish the marker with respect to the base frame
color- an enum pre-defined name of a color
scale- an enum pre-defined name of a size
length- the length of the arrow tail
Returns:
true on success

Definition at line 1075 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishYArrow ( const geometry_msgs::Pose &  pose,
const colors &  color = GREEN,
const scales &  scale = REGULAR,
double  length = 0.1 
)

Definition at line 1082 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishYArrow ( const geometry_msgs::PoseStamped &  pose,
const colors &  color = GREEN,
const scales &  scale = REGULAR,
double  length = 0.1 
)

Definition at line 1089 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishYZPlane ( const Eigen::Affine3d &  pose,
const rviz_visual_tools::colors &  color = TRANSLUCENT,
double  scale = 1.0 
)

Display the XY plane of a given pose.

Parameters:
pose- the position of the plane
color- the color of the plane
scale- the size of the vizualized plane
Returns:
true on success

Definition at line 909 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishYZPlane ( const geometry_msgs::Pose &  pose,
const rviz_visual_tools::colors &  color = TRANSLUCENT,
double  scale = 1.0 
)

Definition at line 914 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishZArrow ( const Eigen::Affine3d &  pose,
const colors &  color = BLUE,
const scales &  scale = REGULAR,
double  length = 0.1,
const std::size_t &  id = 0 
)

Display an arrow along the z-axis of a pose.

Parameters:
pose- the location to publish the marker with respect to the base frame
color- an enum pre-defined name of a color
scale- an enum pre-defined name of a size
length- the length of the arrow tail
Returns:
true on success

Definition at line 1098 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishZArrow ( const geometry_msgs::Pose &  pose,
const colors &  color = BLUE,
const scales &  scale = REGULAR,
double  length = 0.1 
)

Definition at line 1105 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishZArrow ( const geometry_msgs::PoseStamped &  pose,
const colors &  color = BLUE,
const scales &  scale = REGULAR,
double  length = 0.1 
)

Definition at line 1112 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::publishZArrow ( const geometry_msgs::PoseStamped &  pose,
const colors &  color = BLUE,
const scales &  scale = REGULAR,
double  length = 0.1,
const std::size_t &  id = 0 
)

Definition at line 1121 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::resetMarkerCounts ( )

Reset the id's of all published markers so that they overwrite themselves in the future NOTE you may prefer deleteAllMarkers()

Definition at line 83 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::setAlpha ( double  alpha) [inline]

Change the transparency of all markers published.

Parameters:
alpha- value 0 - 1 where 0 is invisible

Definition at line 239 of file rviz_visual_tools.h.

void rviz_visual_tools::RvizVisualTools::setBaseFrame ( const std::string &  base_frame) [inline]

Change the global base frame Note: this might reset all your current markers.

Parameters:
nameof frame

Definition at line 318 of file rviz_visual_tools.h.

void rviz_visual_tools::RvizVisualTools::setFloorToBaseHeight ( double  floor_to_base_height)

Allows an offset between base link and floor where objects are built. Default is zero.

Parameters:
floor_to_base_height- the offset

Definition at line 329 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::setGlobalScale ( double  global_scale) [inline]

Setter for the global scale used for changing size of all markers.

Definition at line 334 of file rviz_visual_tools.h.

void rviz_visual_tools::RvizVisualTools::setLifetime ( double  lifetime)

Set the lifetime of markers published to rviz.

Parameters:
lifetimeseconds of how long to show markers. 0 for inifinity

Definition at line 334 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::setMarkerTopic ( const std::string &  topic) [inline]

Set marker array topic.

Definition at line 203 of file rviz_visual_tools.h.

void rviz_visual_tools::RvizVisualTools::setPsychedelicMode ( const bool &  psychedelic_mode = true) [inline]

Setter for PsychedelicMode.

Definition at line 922 of file rviz_visual_tools.h.

double rviz_visual_tools::RvizVisualTools::slerp ( double  start,
double  end,
double  range,
double  value 
)

Interpolate from [start, end] with value of size steps with current value count.

Returns:
interpolated value

Definition at line 533 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::triggerBatchPublish ( )

Trigger the publish function to send out all collected markers.

Returns:
true on success

Definition at line 715 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::triggerBatchPublishAndDisable ( )

Trigger the publish function to send out all collected markers. Also then turns off the batch mode. This is safer incase programmer forgets.

Returns:
true on success

Definition at line 723 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::triggerInternalBatchPublishAndDisable ( ) [protected]

Trigger the publish function to send out all collected markers. Also then turns off the batch mode. This is safer incase programmer forgets. This is the internal version.

Returns:
true on success

Definition at line 2298 of file rviz_visual_tools.cpp.

void rviz_visual_tools::RvizVisualTools::waitForMarkerPub ( )

Optional blocking function to call *after* calling loadMarkerPub(). Allows you to do some intermediate processing before wasting cycles waiting for the marker pub to find a subscriber.

Definition at line 281 of file rviz_visual_tools.cpp.

bool rviz_visual_tools::RvizVisualTools::waitForSubscriber ( const ros::Publisher &  pub,
const double &  wait_time = 0.5,
const bool  blocking = false 
)

Wait until at least one subscriber connects to a publisher.

Parameters:
pub- the publisher to check for subscribers
wait_time- time to wait for subscriber to be available before throwing warning
blocking- if true, the function loop until a subscriber is gotten
Returns:
true on successful connection

Definition at line 287 of file rviz_visual_tools.cpp.

Member Data Documentation

double rviz_visual_tools::RvizVisualTools::alpha_ [protected]

Definition at line 963 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::arrow_marker_ [protected]

Definition at line 970 of file rviz_visual_tools.h.

std::string rviz_visual_tools::RvizVisualTools::base_frame_ [protected]

Definition at line 954 of file rviz_visual_tools.h.

bool rviz_visual_tools::RvizVisualTools::batch_publishing_enabled_ [protected]

Definition at line 960 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::block_marker_ [protected]

Definition at line 972 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::cuboid_marker_ [protected]

Definition at line 976 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::cylinder_marker_ [protected]

Definition at line 973 of file rviz_visual_tools.h.

double rviz_visual_tools::RvizVisualTools::global_scale_ [protected]

Definition at line 964 of file rviz_visual_tools.h.

bool rviz_visual_tools::RvizVisualTools::internal_batch_publishing_enabled_ [protected]

Definition at line 961 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::line_list_marker_ [protected]

Definition at line 978 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::line_strip_marker_ [protected]

Definition at line 977 of file rviz_visual_tools.h.

ros::Duration rviz_visual_tools::RvizVisualTools::marker_lifetime_ [protected]

Definition at line 957 of file rviz_visual_tools.h.

std::string rviz_visual_tools::RvizVisualTools::marker_topic_ [protected]

Definition at line 953 of file rviz_visual_tools.h.

visualization_msgs::MarkerArray rviz_visual_tools::RvizVisualTools::markers_ [protected]

Definition at line 967 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::mesh_marker_ [protected]

Definition at line 974 of file rviz_visual_tools.h.

std::string rviz_visual_tools::RvizVisualTools::name_ [protected]

Definition at line 945 of file rviz_visual_tools.h.

ros::NodeHandle rviz_visual_tools::RvizVisualTools::nh_ [protected]

Definition at line 942 of file rviz_visual_tools.h.

bool rviz_visual_tools::RvizVisualTools::psychedelic_mode_ [protected]

Definition at line 991 of file rviz_visual_tools.h.

ros::Publisher rviz_visual_tools::RvizVisualTools::pub_rviz_markers_ [protected]

Definition at line 948 of file rviz_visual_tools.h.

bool rviz_visual_tools::RvizVisualTools::pub_rviz_markers_connected_ [protected]

Definition at line 949 of file rviz_visual_tools.h.

bool rviz_visual_tools::RvizVisualTools::pub_rviz_markers_waited_ [protected]

Definition at line 950 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::reset_marker_ [protected]

Definition at line 980 of file rviz_visual_tools.h.

geometry_msgs::Point32 rviz_visual_tools::RvizVisualTools::shared_point32_msg_ [protected]

Definition at line 986 of file rviz_visual_tools.h.

Eigen::Vector3d rviz_visual_tools::RvizVisualTools::shared_point_eigen_ [protected]

Definition at line 988 of file rviz_visual_tools.h.

geometry_msgs::Point rviz_visual_tools::RvizVisualTools::shared_point_msg_ [protected]

Definition at line 985 of file rviz_visual_tools.h.

Eigen::Affine3d rviz_visual_tools::RvizVisualTools::shared_pose_eigen_ [protected]

Definition at line 987 of file rviz_visual_tools.h.

geometry_msgs::Pose rviz_visual_tools::RvizVisualTools::shared_pose_msg_ [protected]

Definition at line 984 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::sphere_marker_ [protected]

Definition at line 971 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::spheres_marker_ [protected]

Definition at line 979 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::text_marker_ [protected]

Definition at line 975 of file rviz_visual_tools.h.

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::triangle_marker_ [protected]

Definition at line 981 of file rviz_visual_tools.h.

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

rviz_visual_tools
Author(s): Dave Coleman
autogenerated on Sun Aug 7 2016 03:34:46