MarkerShape< T > Class Template Reference

Template class implementation for box, sphere and cylinder fcl::shapes. Creates visualization marker. More...

#include <marker_shapes.hpp>

Inheritance diagram for MarkerShape< T >:

Public Member Functions
fcl::CollisionObject	getCollisionObject () const
uint32_t	getId () const
visualization_msgs::Marker	getMarker ()
geometry_msgs::Pose	getMarkerPose () const
geometry_msgs::Pose	getOriginRelToFrame () const
	MarkerShape (const std::string &root_frame, T &fcl_object, const geometry_msgs::Pose &pose, const std_msgs::ColorRGBA &col)
	MarkerShape (const std::string &root_frame, T &fcl_object, const geometry_msgs::Point &pos, const geometry_msgs::Quaternion &quat, const std_msgs::ColorRGBA &col)
	MarkerShape (const std::string &root_frame, T &fcl_object, double x, double y, double z, double quat_x=0.0, double quat_y=0.0, double quat_z=0.0, double quat_w=1.0, double color_r=0.0, double color_g=0.0, double color_b=0.0, double color_a=1.0)
	MarkerShape (const std::string &root_frame, double x, double y, double z, double quat_x=0.0, double quat_y=0.0, double quat_z=0.0, double quat_w=1.0, double color_r=0.0, double color_g=0.0, double color_b=0.0, double color_a=1.0)
void	setColor (double color_r, double color_g, double color_b, double color_a=1.0)
void	updatePose (const geometry_msgs::Vector3 &pos, const geometry_msgs::Quaternion &quat)
void	updatePose (const geometry_msgs::Pose &pose)
virtual	~MarkerShape ()
Public Member Functions inherited from IMarkerShape
	IMarkerShape ()
	If the marker shape is even drawable or not. More...
bool	isDrawable ()
void	setDrawable (bool can_be_drawn)
virtual	~IMarkerShape ()

Private Member Functions
void	init (const std::string &root_frame, double x, double y, double z, double quat_x, double quat_y, double quat_z, double quat_w, double color_r, double color_g, double color_b, double color_a)

Private Attributes
FclMarkerConverter< T >	fcl_marker_converter_
std::shared_ptr< BVH_RSS_t >	ptr_fcl_bvh_

Additional Inherited Members
Protected Attributes inherited from IMarkerShape
bool	drawable_
visualization_msgs::Marker	marker_
geometry_msgs::Pose	origin_
Static Protected Attributes inherited from IMarkerShape
static uint32_t	class_ctr_ = 0

Detailed Description

template<typename T>
class MarkerShape< T >

Template class implementation for box, sphere and cylinder fcl::shapes. Creates visualization marker.

Definition at line 41 of file marker_shapes.hpp.

Constructor & Destructor Documentation

template<typename T >

MarkerShape< T >::MarkerShape ( const std::string &  root_frame, T &  fcl_object, const geometry_msgs::Pose &  pose, const std_msgs::ColorRGBA &  col  )

inline

Definition at line 52 of file marker_shapes.hpp.

template<typename T >

MarkerShape< T >::MarkerShape ( const std::string &  root_frame, T &  fcl_object, const geometry_msgs::Point &  pos, const geometry_msgs::Quaternion &  quat, const std_msgs::ColorRGBA &  col  )

inline

Definition at line 60 of file marker_shapes.hpp.

template<typename T >

MarkerShape< T >::MarkerShape	(	const std::string &	root_frame,
		T &	fcl_object,
		double	x,
		double	y,
		double	z,
		double	quat_x = 0.0,
		double	quat_y = 0.0,
		double	quat_z = 0.0,
		double	quat_w = 1.0,
		double	color_r = 0.0,
		double	color_g = 0.0,
		double	color_b = 0.0,
		double	color_a = 1.0
	)

Definition at line 25 of file marker_shapes_impl.hpp.

template<typename T >

MarkerShape< T >::MarkerShape	(	const std::string &	root_frame,
		double	x,
		double	y,
		double	z,
		double	quat_x = 0.0,
		double	quat_y = 0.0,
		double	quat_z = 0.0,
		double	quat_w = 1.0,
		double	color_r = 0.0,
		double	color_g = 0.0,
		double	color_b = 0.0,
		double	color_a = 1.0
	)

Definition at line 35 of file marker_shapes_impl.hpp.

template<typename T >

virtual MarkerShape< T >::~MarkerShape ( )

inlinevirtual

Definition at line 99 of file marker_shapes.hpp.

Member Function Documentation

template<typename T >

fcl::CollisionObject MarkerShape< T >::getCollisionObject ( ) const

virtual

Returns

A fcl::CollisionObject to calculate distances to other objects or check whether collision occurred or not.

Implements IMarkerShape.

Definition at line 118 of file marker_shapes_impl.hpp.

template<typename T >

uint32_t MarkerShape< T >::getId ( ) const

inlinevirtual

Parameters

Returns

the marker id with that it is published to RVIZ.

Implements IMarkerShape.

Definition at line 92 of file marker_shapes_impl.hpp.

template<typename T >

visualization_msgs::Marker MarkerShape< T >::getMarker ( )

inlinevirtual

Returns

Gets the visualization marker of this MarkerShape.

Implements IMarkerShape.

Definition at line 110 of file marker_shapes_impl.hpp.

template<typename T >

geometry_msgs::Pose MarkerShape< T >::getMarkerPose ( ) const

inlinevirtual

Implements IMarkerShape.

Definition at line 43 of file marker_shapes_impl.hpp.

template<typename T >

geometry_msgs::Pose MarkerShape< T >::getOriginRelToFrame ( ) const

inlinevirtual

Implements IMarkerShape.

Definition at line 50 of file marker_shapes_impl.hpp.

template<typename T >

void MarkerShape< T >::init ( const std::string &  root_frame, double  x, double  y, double  z, double  quat_x, double  quat_y, double  quat_z, double  quat_w, double  color_r, double  color_g, double  color_b, double  color_a  )

private

Definition at line 57 of file marker_shapes_impl.hpp.

template<typename T >

void MarkerShape< T >::setColor ( double  color_r, double  color_g, double  color_b, double  color_a = 1.0  )

inlinevirtual

Implements IMarkerShape.

Definition at line 99 of file marker_shapes_impl.hpp.

template<typename T >

void MarkerShape< T >::updatePose ( const geometry_msgs::Vector3 &  pos, const geometry_msgs::Quaternion &  quat  )

inlinevirtual

Implements IMarkerShape.

Definition at line 133 of file marker_shapes_impl.hpp.

template<typename T >

void MarkerShape< T >::updatePose ( const geometry_msgs::Pose &  pose )

inlinevirtual

Implements IMarkerShape.

Definition at line 143 of file marker_shapes_impl.hpp.

Member Data Documentation

template<typename T >

FclMarkerConverter<T> MarkerShape< T >::fcl_marker_converter_

private

Definition at line 44 of file marker_shapes.hpp.

template<typename T >

std::shared_ptr<BVH_RSS_t> MarkerShape< T >::ptr_fcl_bvh_

private

Definition at line 45 of file marker_shapes.hpp.

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

• marker_shapes.hpp
• marker_shapes_impl.hpp