Contains any data we need from a link in the robot. More...

#include <robot_link.h>

Inheritance diagram for rviz::RobotLink:

Public Slots
void	updateVisibility ()
	Update the visibility of the link elements: visual mesh, collision mesh, trail, and axes. More...

Public Member Functions
void	expandDetails (bool expand)

const std::vector< std::string > &	getChildJointNames () const

Ogre::SceneNode *	getCollisionNode () const

Property *	getLinkProperty () const

const std::string &	getName () const

bool	getOnlyRenderDepth () const

Ogre::Quaternion	getOrientation ()

const std::string &	getParentJointName () const

Ogre::Vector3	getPosition ()

Robot *	getRobot () const

bool	getSelectable ()

Ogre::SceneNode *	getVisualNode () const

bool	hasGeometry () const

virtual void	hideSubProperties (bool hide)

	RobotLink (Robot *robot, const urdf::LinkConstSharedPtr &link, const std::string &parent_joint_name, bool visual, bool collision)

void	setColor (float red, float green, float blue)

void	setOnlyRenderDepth (bool onlyRenderDepth)

void	setParentProperty (Property *new_parent)

virtual void	setRobotAlpha (float a)

bool	setSelectable (bool selectable)
	set whether the link is selectable. If false objects behind/inside the link can be selected/manipulated. Returns old value. More...

void	setToErrorMaterial ()

void	setToNormalMaterial ()

virtual void	setTransforms (const Ogre::Vector3 &visual_position, const Ogre::Quaternion &visual_orientation, const Ogre::Vector3 &collision_position, const Ogre::Quaternion &collision_orientation)

void	unsetColor ()

void	useDetailProperty (bool use_detail)

virtual	~RobotLink ()

Protected Attributes
FloatProperty *	alpha_property_

Property *	axes_property_

std::vector< std::string >	child_joint_names_

DisplayContext *	context_

Property *	details_

Property *	link_property_

std::string	name_
	Name of this link. More...

QuaternionProperty *	orientation_property_

std::string	parent_joint_name_

VectorProperty *	position_property_

Robot *	robot_

Ogre::SceneManager *	scene_manager_

Property *	trail_property_

Private Types
typedef std::map< Ogre::SubEntity *, Ogre::MaterialPtr >	M_SubEntityToMaterial

Private Slots
void	updateAlpha ()

void	updateAxes ()

void	updateTrail ()

Private Member Functions
void	createCollision (const urdf::LinkConstSharedPtr &link)

void	createEntityForGeometryElement (const urdf::LinkConstSharedPtr &link, const urdf::Geometry &geom, const urdf::Pose &origin, const std::string material_name, Ogre::SceneNode scene_node, Ogre::Entity &entity)

void	createSelection ()

void	createVisual (const urdf::LinkConstSharedPtr &link)

bool	getEnabled () const

Ogre::MaterialPtr	getMaterialForLink (const urdf::LinkConstSharedPtr &link, const std::string material_name="")

void	setRenderQueueGroup (Ogre::uint8 group)

Private Attributes
Axes *	axes_

std::vector< Ogre::Entity * >	collision_meshes_
	The entities representing the collision mesh of this link (if they exist) More...

Ogre::SceneNode *	collision_node_
	The scene node the collision meshes are attached to. More...

Ogre::MaterialPtr	color_material_

Ogre::MaterialPtr	default_material_

std::string	default_material_name_

bool	is_selectable_

std::string	joint_name_

float	material_alpha_
	If material is not a texture, this saves the alpha value set in the URDF, otherwise is 1.0. More...

M_SubEntityToMaterial	materials_

bool	only_render_depth_

float	robot_alpha_
	Alpha value from top-level robot alpha Property (set via setRobotAlpha()). More...

RobotLinkSelectionHandlerPtr	selection_handler_

Ogre::RibbonTrail *	trail_

bool	using_color_

std::vector< Ogre::Entity * >	visual_meshes_
	The entities representing the visual mesh of this link (if they exist) More...

Ogre::SceneNode *	visual_node_
	The scene node the visual meshes are attached to. More...

Friends
class	RobotLinkSelectionHandler

Detailed Description

Contains any data we need from a link in the robot.

Definition at line 84 of file robot_link.h.

Member Typedef Documentation

typedef std::map<Ogre::SubEntity*, Ogre::MaterialPtr> rviz::RobotLink::M_SubEntityToMaterial

private

Definition at line 187 of file robot_link.h.

Constructor & Destructor Documentation

rviz::RobotLink::RobotLink	(	Robot *	robot,
		const urdf::LinkConstSharedPtr &	link,
		const std::string &	parent_joint_name,
		bool	visual,
		bool	collision
	)

Definition at line 156 of file robot_link.cpp.

rviz::RobotLink::~RobotLink ( )

virtual

Definition at line 303 of file robot_link.cpp.

Member Function Documentation

void rviz::RobotLink::createCollision ( const urdf::LinkConstSharedPtr & link )

private

Definition at line 671 of file robot_link.cpp.

void rviz::RobotLink::createEntityForGeometryElement	(	const urdf::LinkConstSharedPtr &	link,
		const urdf::Geometry &	geom,
		const urdf::Pose &	origin,
		const std::string	material_name,
		Ogre::SceneNode *	scene_node,
		Ogre::Entity *&	entity
	)

private

Definition at line 526 of file robot_link.cpp.

void rviz::RobotLink::createSelection ( )

private

Definition at line 785 of file robot_link.cpp.

void rviz::RobotLink::createVisual ( const urdf::LinkConstSharedPtr & link )

private

Definition at line 728 of file robot_link.cpp.

void rviz::RobotLink::expandDetails ( bool expand )

Definition at line 1015 of file robot_link.cpp.

const std::vector<std::string>& rviz::RobotLink::getChildJointNames ( ) const

inline

Definition at line 103 of file robot_link.h.

Ogre::SceneNode* rviz::RobotLink::getCollisionNode ( ) const

inline

Definition at line 106 of file robot_link.h.

bool rviz::RobotLink::getEnabled ( ) const

private

Definition at line 333 of file robot_link.cpp.

Property* rviz::RobotLink::getLinkProperty ( ) const

inline

Definition at line 104 of file robot_link.h.

Ogre::MaterialPtr rviz::RobotLink::getMaterialForLink	(	const urdf::LinkConstSharedPtr &	link,
		const std::string	material_name = `""`
	)

private

Definition at line 444 of file robot_link.cpp.

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

inline

Definition at line 101 of file robot_link.h.

bool rviz::RobotLink::getOnlyRenderDepth ( ) const

inline

Definition at line 135 of file robot_link.h.

Ogre::Quaternion rviz::RobotLink::getOrientation ( )

Definition at line 966 of file robot_link.cpp.

const std::string& rviz::RobotLink::getParentJointName ( ) const

inline

Definition at line 102 of file robot_link.h.

Ogre::Vector3 rviz::RobotLink::getPosition ( )

Definition at line 961 of file robot_link.cpp.

Robot* rviz::RobotLink::getRobot ( ) const

inline

Definition at line 107 of file robot_link.h.

bool rviz::RobotLink::getSelectable ( )

Definition at line 947 of file robot_link.cpp.

Ogre::SceneNode* rviz::RobotLink::getVisualNode ( ) const

inline

Definition at line 105 of file robot_link.h.

bool rviz::RobotLink::hasGeometry ( ) const

Definition at line 328 of file robot_link.cpp.

void rviz::RobotLink::hideSubProperties ( bool hide )

virtual

Definition at line 952 of file robot_link.cpp.

void rviz::RobotLink::setColor	(	float	red,
		float	green,
		float	blue
	)

Definition at line 921 of file robot_link.cpp.

void rviz::RobotLink::setOnlyRenderDepth ( bool onlyRenderDepth )

Definition at line 364 of file robot_link.cpp.

void rviz::RobotLink::setParentProperty ( Property * new_parent )

Definition at line 971 of file robot_link.cpp.

void rviz::RobotLink::setRenderQueueGroup ( Ogre::uint8 group )

private

Definition at line 346 of file robot_link.cpp.

void rviz::RobotLink::setRobotAlpha ( float a )

virtual

Definition at line 340 of file robot_link.cpp.

bool rviz::RobotLink::setSelectable ( bool selectable )

set whether the link is selectable. If false objects behind/inside the link can be selected/manipulated. Returns old value.

Definition at line 940 of file robot_link.cpp.

void rviz::RobotLink::setToErrorMaterial ( )

Definition at line 885 of file robot_link.cpp.

void rviz::RobotLink::setToNormalMaterial ( )

Definition at line 897 of file robot_link.cpp.

void rviz::RobotLink::setTransforms	(	const Ogre::Vector3 &	visual_position,
		const Ogre::Quaternion &	visual_orientation,
		const Ogre::Vector3 &	collision_position,
		const Ogre::Quaternion &	collision_orientation
	)

virtual

Definition at line 860 of file robot_link.cpp.

void rviz::RobotLink::unsetColor ( )

Definition at line 934 of file robot_link.cpp.

void rviz::RobotLink::updateAlpha ( )

privateslot

Definition at line 371 of file robot_link.cpp.

void rviz::RobotLink::updateAxes ( )

privateslot

Definition at line 834 of file robot_link.cpp.

void rviz::RobotLink::updateTrail ( )

privateslot

Definition at line 798 of file robot_link.cpp.

void rviz::RobotLink::updateVisibility ( )

slot

Update the visibility of the link elements: visual mesh, collision mesh, trail, and axes.

Called by Robot when changing visual and collision visibilities, since each link may be enabled or disabled.

Definition at line 420 of file robot_link.cpp.

void rviz::RobotLink::useDetailProperty ( bool use_detail )

Definition at line 987 of file robot_link.cpp.

Friends And Related Function Documentation

friend class RobotLinkSelectionHandler

friend

Definition at line 216 of file robot_link.h.

Member Data Documentation

FloatProperty* rviz::RobotLink::alpha_property_

protected

Definition at line 184 of file robot_link.h.

Axes* rviz::RobotLink::axes_

private

Definition at line 200 of file robot_link.h.

Property* rviz::RobotLink::axes_property_

protected

Definition at line 183 of file robot_link.h.

std::vector<std::string> rviz::RobotLink::child_joint_names_

protected

Definition at line 173 of file robot_link.h.

std::vector<Ogre::Entity*> rviz::RobotLink::collision_meshes_

private

The entities representing the collision mesh of this link (if they exist)

Definition at line 193 of file robot_link.h.

Ogre::SceneNode* rviz::RobotLink::collision_node_

private

The scene node the collision meshes are attached to.

Definition at line 196 of file robot_link.h.

Ogre::MaterialPtr rviz::RobotLink::color_material_

private

Definition at line 213 of file robot_link.h.

DisplayContext* rviz::RobotLink::context_

protected

Definition at line 169 of file robot_link.h.

Ogre::MaterialPtr rviz::RobotLink::default_material_

private

Definition at line 189 of file robot_link.h.

std::string rviz::RobotLink::default_material_name_

private

Definition at line 190 of file robot_link.h.

Property* rviz::RobotLink::details_

protected

Definition at line 179 of file robot_link.h.

bool rviz::RobotLink::is_selectable_

private

Definition at line 206 of file robot_link.h.

std::string rviz::RobotLink::joint_name_

private

Definition at line 209 of file robot_link.h.

Property* rviz::RobotLink::link_property_

protected

Definition at line 178 of file robot_link.h.

float rviz::RobotLink::material_alpha_

private

If material is not a texture, this saves the alpha value set in the URDF, otherwise is 1.0.

Definition at line 202 of file robot_link.h.

M_SubEntityToMaterial rviz::RobotLink::materials_

private

Definition at line 188 of file robot_link.h.

std::string rviz::RobotLink::name_

protected

Name of this link.

Definition at line 171 of file robot_link.h.

bool rviz::RobotLink::only_render_depth_

private

Definition at line 205 of file robot_link.h.

QuaternionProperty* rviz::RobotLink::orientation_property_

protected

Definition at line 181 of file robot_link.h.

std::string rviz::RobotLink::parent_joint_name_

protected

Definition at line 172 of file robot_link.h.

VectorProperty* rviz::RobotLink::position_property_

protected

Definition at line 180 of file robot_link.h.

Robot* rviz::RobotLink::robot_

protected

Definition at line 167 of file robot_link.h.

float rviz::RobotLink::robot_alpha_

private

Alpha value from top-level robot alpha Property (set via setRobotAlpha()).

Definition at line 203 of file robot_link.h.

Ogre::SceneManager* rviz::RobotLink::scene_manager_

protected

Definition at line 168 of file robot_link.h.

RobotLinkSelectionHandlerPtr rviz::RobotLink::selection_handler_

private

Definition at line 211 of file robot_link.h.

Ogre::RibbonTrail* rviz::RobotLink::trail_

private

Definition at line 198 of file robot_link.h.

Property* rviz::RobotLink::trail_property_

protected

Definition at line 182 of file robot_link.h.

bool rviz::RobotLink::using_color_

private

Definition at line 214 of file robot_link.h.

std::vector<Ogre::Entity*> rviz::RobotLink::visual_meshes_

private

The entities representing the visual mesh of this link (if they exist)

Definition at line 192 of file robot_link.h.

Ogre::SceneNode* rviz::RobotLink::visual_node_

private

The scene node the visual meshes are attached to.

Definition at line 195 of file robot_link.h.

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

Public Slots

Public Member Functions

Protected Attributes

Private Types

Private Slots

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation