#include <robot.h>

Inheritance diagram for rviz::Robot:

Classes
class	LinkFactory

Public Types
enum	LinkTreeStyle { STYLE_LINK_LIST, STYLE_DEFAULT = STYLE_LINK_LIST, STYLE_JOINT_LIST, STYLE_LINK_TREE, STYLE_JOINT_LINK_TREE }

typedef std::map< std::string, RobotJoint * >	M_NameToJoint

typedef std::map< std::string, RobotLink * >	M_NameToLink

Public Member Functions
void	calculateJointCheckboxes ()

virtual void	clear ()
	Clears all data loaded from a URDF. More...

float	getAlpha ()

Ogre::SceneNode *	getCollisionNode ()

DisplayContext *	getDisplayContext ()

RobotJoint *	getJoint (const std::string &name)

const M_NameToJoint &	getJoints () const

RobotLink *	getLink (const std::string &name)

const M_NameToLink &	getLinks () const

Property *	getLinkTreeProperty ()

const std::string &	getName ()

virtual const Ogre::Quaternion &	getOrientation ()

Ogre::SceneNode *	getOtherNode ()

virtual const Ogre::Vector3 &	getPosition ()

RobotLink *	getRootLink ()

Ogre::SceneManager *	getSceneManager ()

Ogre::SceneNode *	getVisualNode ()

bool	isCollisionVisible ()
	Returns whether or not the collision representation is set to be visible To be visible this and isVisible() must both be true. More...

bool	isVisible ()
	Returns whether anything is visible. More...

bool	isVisualVisible ()
	Returns whether or not the visual representation is set to be visible To be visible this and isVisible() must both be true. More...

virtual void	load (const urdf::ModelInterface &urdf, bool visual=true, bool collision=true)
	Loads meshes/primitives from a robot description. Calls clear() before loading. More...

	Robot (Ogre::SceneNode root_node, DisplayContext context, const std::string &name, Property *parent_property)

void	setAlpha (float a)

void	setCollisionVisible (bool visible)
	Set whether the collision meshes/primitives of the robot should be visible. More...

void	setLinkFactory (LinkFactory *link_factory)

void	setLinkTreeStyle (LinkTreeStyle style)

virtual void	setOrientation (const Ogre::Quaternion &orientation)

virtual void	setPosition (const Ogre::Vector3 &position)

virtual void	setScale (const Ogre::Vector3 &scale)

virtual void	setVisible (bool visible)
	Set the robot as a whole to be visible or not. More...

void	setVisualVisible (bool visible)
	Set whether the visual meshes of the robot should be visible. More...

virtual void	update (const LinkUpdater &updater)

virtual	~Robot ()

Protected Member Functions
void	addJointToLinkTree (LinkTreeStyle style, Property parent, RobotJoint joint)

void	addLinkToLinkTree (LinkTreeStyle style, Property parent, RobotLink link)

void	initLinkTreeStyle ()

void	setEnableAllLinksCheckbox (QVariant val)

void	unparentLinkProperties ()

void	updateLinkVisibilities ()
	Call RobotLink::updateVisibility() on each link. More...

void	useDetailProperty (bool use_detail)

Static Protected Member Functions
static bool	styleIsTree (LinkTreeStyle style)

static bool	styleShowJoint (LinkTreeStyle style)

static bool	styleShowLink (LinkTreeStyle style)

Protected Attributes
float	alpha_

bool	collision_visible_
	Should we show the collision representation? More...

DisplayContext *	context_

bool	doing_set_checkbox_

BoolProperty *	enable_all_links_

BoolProperty *	expand_joint_details_

BoolProperty *	expand_link_details_

BoolProperty *	expand_tree_

bool	inChangedEnableAllLinks

M_NameToJoint	joints_
	Map of name to joint info, stores all loaded joints. More...

LinkFactory *	link_factory_
	factory for generating links and joints More...

Property *	link_tree_

EnumProperty *	link_tree_style_

M_NameToLink	links_
	Map of name to link info, stores all loaded links. More...

std::string	name_

bool	robot_loaded_

Ogre::SceneNode *	root_collision_node_
	Node all our collision nodes are children of. More...

RobotLink *	root_link_

Ogre::SceneNode *	root_other_node_

Ogre::SceneNode *	root_visual_node_
	Node all our visual nodes are children of. More...

Ogre::SceneManager *	scene_manager_

std::map< LinkTreeStyle, std::string >	style_name_map_

bool	visible_
	Should we show anything at all? (affects visual, collision, axes, and trails) More...

bool	visual_visible_
	Should we show the visual representation? More...

Private Slots
void	changedEnableAllLinks ()

void	changedExpandJointDetails ()

void	changedExpandLinkDetails ()

void	changedExpandTree ()

void	changedHideSubProperties ()

void	changedLinkTreeStyle ()

Detailed Description

A helper class to draw a representation of a robot, as specified by a URDF. Can display either the visual models of the robot, or the collision models.

Definition at line 84 of file robot.h.

Member Typedef Documentation

typedef std::map< std::string, RobotJoint* > rviz::Robot::M_NameToJoint

Definition at line 148 of file robot.h.

typedef std::map< std::string, RobotLink* > rviz::Robot::M_NameToLink

Definition at line 147 of file robot.h.

Member Enumeration Documentation

enum rviz::Robot::LinkTreeStyle

Enumerator
STYLE_LINK_LIST
STYLE_DEFAULT
STYLE_JOINT_LIST
STYLE_LINK_TREE
STYLE_JOINT_LINK_TREE

Definition at line 191 of file robot.h.

Constructor & Destructor Documentation

Robot::Robot	(	Ogre::SceneNode *	root_node,
		DisplayContext *	context,
		const std::string &	name,
		Property *	parent_property
	)

Definition at line 57 of file robot.cpp.

Robot::~Robot ( )

virtual

Definition at line 119 of file robot.cpp.

Member Function Documentation

void Robot::addJointToLinkTree	(	LinkTreeStyle	style,
		Property *	parent,
		RobotJoint *	joint
	)

protected

Definition at line 635 of file robot.cpp.

void Robot::addLinkToLinkTree	(	LinkTreeStyle	style,
		Property *	parent,
		RobotLink *	link
	)

protected

used by setLinkTreeStyle() to recursively build link & joint tree.

Definition at line 614 of file robot.cpp.

void Robot::calculateJointCheckboxes ( )

Definition at line 675 of file robot.cpp.

void Robot::changedEnableAllLinks ( )

privateslot

Definition at line 436 of file robot.cpp.

void Robot::changedExpandJointDetails ( )

privateslot

Definition at line 424 of file robot.cpp.

void Robot::changedExpandLinkDetails ( )

privateslot

Definition at line 412 of file robot.cpp.

void Robot::changedExpandTree ( )

privateslot

Definition at line 368 of file robot.cpp.

void Robot::changedHideSubProperties ( )

privateslot

Definition at line 393 of file robot.cpp.

void Robot::changedLinkTreeStyle ( )

privateslot

Definition at line 526 of file robot.cpp.

void Robot::clear ( )

virtual

Clears all data loaded from a URDF.

Definition at line 207 of file robot.cpp.

float rviz::Robot::getAlpha ( )

inline

Definition at line 141 of file robot.h.

Ogre::SceneNode* rviz::Robot::getCollisionNode ( )

inline

Definition at line 155 of file robot.h.

DisplayContext* rviz::Robot::getDisplayContext ( )

inline

Definition at line 158 of file robot.h.

RobotJoint * Robot::getJoint ( const std::string & name )

Definition at line 663 of file robot.cpp.

const M_NameToJoint& rviz::Robot::getJoints ( ) const

inline

Definition at line 150 of file robot.h.

RobotLink * Robot::getLink ( const std::string & name )

Definition at line 651 of file robot.cpp.

const M_NameToLink& rviz::Robot::getLinks ( ) const

inline

Definition at line 149 of file robot.h.

Property* rviz::Robot::getLinkTreeProperty ( )

inline

can be used to change the name, reparent, or add extra properties to the list of links

Definition at line 203 of file robot.h.

const std::string& rviz::Robot::getName ( void )

inline

Definition at line 152 of file robot.h.

const Ogre::Quaternion & Robot::getOrientation ( )

virtual

Definition at line 825 of file robot.cpp.

Ogre::SceneNode* rviz::Robot::getOtherNode ( )

inline

Definition at line 156 of file robot.h.

const Ogre::Vector3 & Robot::getPosition ( )

virtual

Definition at line 820 of file robot.cpp.

RobotLink* rviz::Robot::getRootLink ( )

inline

Definition at line 143 of file robot.h.

Ogre::SceneManager* rviz::Robot::getSceneManager ( )

inline

Definition at line 157 of file robot.h.

Ogre::SceneNode* rviz::Robot::getVisualNode ( )

inline

Definition at line 154 of file robot.h.

void Robot::initLinkTreeStyle ( )

protected

initialize style_name_map_ and link_tree_style_ options

Definition at line 477 of file robot.cpp.

bool Robot::isCollisionVisible ( )

Returns whether or not the collision representation is set to be visible To be visible this and isVisible() must both be true.

Definition at line 188 of file robot.cpp.

bool Robot::isVisible ( )

Returns whether anything is visible.

Definition at line 178 of file robot.cpp.

bool Robot::isVisualVisible ( )

Returns whether or not the visual representation is set to be visible To be visible this and isVisible() must both be true.

Definition at line 183 of file robot.cpp.

void Robot::load	(	const urdf::ModelInterface &	urdf,
		bool	visual = `true`,
		bool	collision = `true`
	)

virtual

Loads meshes/primitives from a robot description. Calls clear() before loading.

Parameters

urdf	The robot description to read from
visual	Whether or not to load the visual representation
collision	Whether or not to load the collision representation

Definition at line 254 of file robot.cpp.

void Robot::setAlpha ( float a )

Definition at line 193 of file robot.cpp.

void Robot::setCollisionVisible ( bool visible )

Set whether the collision meshes/primitives of the robot should be visible.

Parameters

visible Whether the collision meshes/primitives should be visible

Definition at line 161 of file robot.cpp.

void Robot::setEnableAllLinksCheckbox ( QVariant val )

protected

Definition at line 468 of file robot.cpp.

void Robot::setLinkFactory ( LinkFactory * link_factory )

Call this before load() to subclass the RobotLink or RobotJoint class used in the link property. Example: class MyLinkFactory : public LinkFactory { ... // overload createLink() and/or createJoint() } ... robot->setLinkFactory(new MyLinkFactory());

Definition at line 129 of file robot.cpp.

void Robot::setLinkTreeStyle ( LinkTreeStyle style )

Set the style of the link property.

Definition at line 516 of file robot.cpp.

void Robot::setOrientation ( const Ogre::Quaternion & orientation )

virtual

Definition at line 808 of file robot.cpp.

void Robot::setPosition ( const Ogre::Vector3 & position )

virtual

Definition at line 802 of file robot.cpp.

void Robot::setScale ( const Ogre::Vector3 & scale )

virtual

Definition at line 814 of file robot.cpp.

void Robot::setVisible ( bool visible )

virtual

Set the robot as a whole to be visible or not.

Parameters

visible Should we be visible?

Definition at line 138 of file robot.cpp.

void Robot::setVisualVisible ( bool visible )

Set whether the visual meshes of the robot should be visible.

Parameters

visible Whether the visual meshes of the robot should be visible

Definition at line 155 of file robot.cpp.

bool Robot::styleIsTree ( LinkTreeStyle style )

staticprotected

Definition at line 509 of file robot.cpp.

bool Robot::styleShowJoint ( LinkTreeStyle style )

staticprotected

Definition at line 502 of file robot.cpp.

bool Robot::styleShowLink ( LinkTreeStyle style )

staticprotected

Definition at line 494 of file robot.cpp.

void Robot::unparentLinkProperties ( )

protected

remove all link and joint properties from their parents. Needed before deletion and before rearranging link tree.

Definition at line 330 of file robot.cpp.

void Robot::update ( const LinkUpdater & updater )

virtual

Definition at line 728 of file robot.cpp.

void Robot::updateLinkVisibilities ( )

protected

Call RobotLink::updateVisibility() on each link.

Definition at line 167 of file robot.cpp.

void Robot::useDetailProperty ( bool use_detail )

protected

Definition at line 349 of file robot.cpp.

Member Data Documentation

float rviz::Robot::alpha_

protected

Definition at line 276 of file robot.h.

bool rviz::Robot::collision_visible_

protected

Should we show the collision representation?

Definition at line 257 of file robot.h.

DisplayContext* rviz::Robot::context_

protected

Definition at line 259 of file robot.h.

bool rviz::Robot::doing_set_checkbox_

protected

Definition at line 268 of file robot.h.

BoolProperty* rviz::Robot::enable_all_links_

protected

Definition at line 265 of file robot.h.

BoolProperty* rviz::Robot::expand_joint_details_

protected

Definition at line 264 of file robot.h.

BoolProperty* rviz::Robot::expand_link_details_

protected

Definition at line 263 of file robot.h.

BoolProperty* rviz::Robot::expand_tree_

protected

Definition at line 262 of file robot.h.

bool rviz::Robot::inChangedEnableAllLinks

protected

Definition at line 273 of file robot.h.

M_NameToJoint rviz::Robot::joints_

protected

Map of name to joint info, stores all loaded joints.

Definition at line 246 of file robot.h.

LinkFactory* rviz::Robot::link_factory_

protected

factory for generating links and joints

Definition at line 249 of file robot.h.

Property* rviz::Robot::link_tree_

protected

Definition at line 260 of file robot.h.

EnumProperty* rviz::Robot::link_tree_style_

protected

Definition at line 261 of file robot.h.

M_NameToLink rviz::Robot::links_

protected

Map of name to link info, stores all loaded links.

Definition at line 245 of file robot.h.

std::string rviz::Robot::name_

protected

Definition at line 275 of file robot.h.

bool rviz::Robot::robot_loaded_

protected

Definition at line 269 of file robot.h.

Ogre::SceneNode* rviz::Robot::root_collision_node_

protected

Node all our collision nodes are children of.

Definition at line 252 of file robot.h.

RobotLink* rviz::Robot::root_link_

protected

Definition at line 247 of file robot.h.

Ogre::SceneNode* rviz::Robot::root_other_node_

protected

Definition at line 253 of file robot.h.

Ogre::SceneNode* rviz::Robot::root_visual_node_

protected

Node all our visual nodes are children of.

Definition at line 251 of file robot.h.

Ogre::SceneManager* rviz::Robot::scene_manager_

protected

Definition at line 243 of file robot.h.

std::map<LinkTreeStyle, std::string> rviz::Robot::style_name_map_

protected

Definition at line 266 of file robot.h.

bool rviz::Robot::visible_

protected

Should we show anything at all? (affects visual, collision, axes, and trails)

Definition at line 255 of file robot.h.

bool rviz::Robot::visual_visible_

protected

Should we show the visual representation?

Definition at line 256 of file robot.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Slots

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation