The VisualizationManager class is the central manager class of rviz, holding all the Displays, Tools, ViewControllers, and other managers. More...

#include <visualization_manager.h>

Inheritance diagram for rviz::VisualizationManager:

[legend]

Signals
void	configChanged ()
	Emitted whenever the display configuration changes. More...

void	preUpdate ()
	Emitted before updating all Displays. More...

void	statusUpdate (const QString &message)
	Emitted during file-loading and initialization to indicate progress. More...

Public Member Functions
void	addDisplay (Display *display, bool enabled)
	Add a display to be managed by this panel. More...

Display *	createDisplay (const QString &class_lookup_name, const QString &name, bool enabled)
	Create and add a display to this panel, by class lookup name. More...

void	emitStatusUpdate (const QString &message)
	Emits statusUpdate() signal with the given message. More...

virtual uint32_t	getDefaultVisibilityBit () const

virtual DisplayFactory *	getDisplayFactory () const
	Return a factory for creating Display subclasses based on a class id string. More...

PropertyTreeModel *	getDisplayTreeModel () const

QString	getFixedFrame () const
	Return the fixed frame name. More...

uint64_t	getFrameCount () const
	Return the current value of the frame count. More...

FrameManager *	getFrameManager () const
	Return the FrameManager instance. More...

virtual QString	getHelpPath () const

RenderPanel *	getRenderPanel () const
	Return the main RenderPanel. More...

virtual DisplayGroup *	getRootDisplayGroup () const

double	getROSTime ()
	Return the ROS time, in seconds. More...

double	getROSTimeElapsed ()
	Return the ROS time in seconds since the last reset. More...

Ogre::SceneManager *	getSceneManager () const
	Returns the Ogre::SceneManager used for the main RenderPanel. More...

SelectionManager *	getSelectionManager () const
	Return a pointer to the SelectionManager. More...

tf::TransformListener *	getTFClient () const
	Convenience function: returns getFrameManager()->getTFClient(). More...

ros::CallbackQueueInterface *	getThreadedQueue ()
	Return a CallbackQueue using a different thread than the main GUI one. More...

virtual ToolManager *	getToolManager () const
	Return a pointer to the ToolManager. More...

ros::CallbackQueueInterface *	getUpdateQueue ()
	Return the CallbackQueue using the main GUI thread. More...

virtual ViewManager *	getViewManager () const
	Return a pointer to the ViewManager. More...

double	getWallClock ()
	Return the wall clock time, in seconds since 1970. More...

double	getWallClockElapsed ()
	Return the wall clock time in seconds since the last reset. More...

WindowManagerInterface *	getWindowManager () const
	Return the window manager, if any. More...

void	handleChar (QKeyEvent event, RenderPanel panel)
	Handle a single key event for a given RenderPanel. More...

void	handleMouseEvent (const ViewportMouseEvent &event)
	Handle a mouse event. More...

void	initialize ()
	Do initialization that wasn't done in constructor. Initializes tool manager, view manager, selection manager. More...

void	load (const Config &config)
	Load the properties of each Display and most editable rviz data. More...

void	lockRender ()
	Lock a mutex to delay calls to Ogre::Root::renderOneFrame(). More...

void	notifyConfigChanged ()
	Notify this VisualizationManager that something about its display configuration has changed. More...

void	queueRender ()
	Queues a render. Multiple calls before a render happens will only cause a single render. More...

void	removeAllDisplays ()
	Remove and delete all displays. More...

void	resetTime ()
	Resets the wall and ROS elapsed time to zero and calls resetDisplays(). More...

void	save (Config config) const
	Save the properties of each Display and most editable rviz data. More...

void	setFixedFrame (const QString &frame)
	Set the coordinate frame we should be transforming all fixed data into. More...

virtual void	setHelpPath (const QString &help_path)

virtual void	setStatus (const QString &message)

void	startUpdate ()
	Start timers. Creates and starts the update and idle timers, both set to 30Hz (33ms). More...

void	stopUpdate ()

void	unlockRender ()
	Unlock a mutex, allowing calls to Ogre::Root::renderOneFrame(). More...

virtual BitAllocator *	visibilityBits ()

	VisualizationManager (RenderPanel render_panel, WindowManagerInterface wm=0, boost::shared_ptr< tf::TransformListener > tf=boost::shared_ptr< tf::TransformListener >())
	Constructor Creates managers and sets up global properties. More...

virtual	~VisualizationManager ()
	Destructor Stops update timers and destroys all displays, tools, and managers. More...

Protected Slots
void	onToolChanged (Tool *)

void	onUpdate ()
	Call update() on all managed objects. More...

Protected Member Functions
void	createColorMaterials ()

void	threadedQueueThreadFunc ()

void	updateFrames ()

void	updateTime ()

Protected Attributes
ColorProperty *	background_color_property_

BoolProperty *	default_light_enabled_property_

PropertyTreeModel *	display_property_tree_model_

TfFrameProperty *	fixed_frame_property_
	Frame to transform fixed data to. More...

IntProperty *	fps_property_

uint64_t	frame_count_

FrameManager *	frame_manager_

float	frame_update_timer_

Property *	global_options_

StatusList *	global_status_

ros::Time	last_update_ros_time_
	Update stopwatch. Stores how long it's been since the last update. More...

ros::WallTime	last_update_wall_time_

OgreRenderQueueClearer *	ogre_render_queue_clearer_

Ogre::Root *	ogre_root_
	Ogre Root. More...

RenderPanel *	render_panel_

uint32_t	render_requested_

DisplayGroup *	root_display_group_

ros::Time	ros_time_begin_

ros::Duration	ros_time_elapsed_

Ogre::SceneManager *	scene_manager_
	Ogre scene manager associated with this panel. More...

SelectionManager *	selection_manager_

volatile bool	shutting_down_

float	time_update_timer_

ToolManager *	tool_manager_

QTimer *	update_timer_
	Update timer. Display::update is called on each display whenever this timer fires. More...

ViewManager *	view_manager_

ros::WallTime	wall_clock_begin_

ros::WallDuration	wall_clock_elapsed_

WindowManagerInterface *	window_manager_

Private Slots
void	updateBackgroundColor ()

void	updateDefaultLightVisible ()

void	updateFixedFrame ()

void	updateFps ()

Private Attributes
uint32_t	default_visibility_bit_

Ogre::Light *	directional_light_

DisplayFactory *	display_factory_

QString	help_path_

VisualizationManagerPrivate *	private_

BitAllocator	visibility_bit_allocator_

Additional Inherited Members
Public Slots inherited from rviz::DisplayContext

Detailed Description

The VisualizationManager class is the central manager class of rviz, holding all the Displays, Tools, ViewControllers, and other managers.

It keeps the current view controller for the main render window. It has a timer which calls update() on all the displays. It creates and holds pointers to the other manager objects: SelectionManager, FrameManager, the PropertyManager s, and Ogre::SceneManager.

The "protected" members should probably all be "private", as VisualizationManager is not intended to be subclassed.

Definition at line 100 of file visualization_manager.h.

Constructor & Destructor Documentation

rviz::VisualizationManager::VisualizationManager	(	RenderPanel *	render_panel,
		WindowManagerInterface *	wm = `0`,
		boost::shared_ptr< tf::TransformListener >	tf = `boost::shared_ptr<tf::TransformListener>()`
	)

Constructor Creates managers and sets up global properties.

Parameters

render_panel	a pointer to the main render panel widget of the app.
wm	a pointer to the window manager (which is really just a VisualizationFrame, the top-level container widget of rviz).
tf	a pointer to tf::TransformListener which will be internally used by FrameManager.

Definition at line 120 of file visualization_manager.cpp.

rviz::VisualizationManager::~VisualizationManager ( )

virtual

Destructor Stops update timers and destroys all displays, tools, and managers.

Definition at line 208 of file visualization_manager.cpp.

Member Function Documentation

void rviz::VisualizationManager::addDisplay	(	Display *	display,
		bool	enabled
	)

Add a display to be managed by this panel.

Parameters

display The display to be added

Definition at line 438 of file visualization_manager.cpp.

void rviz::VisualizationManager::configChanged ( )

signal

Emitted whenever the display configuration changes.

void rviz::VisualizationManager::createColorMaterials ( )

protected

Definition at line 292 of file visualization_manager.cpp.

Display * rviz::VisualizationManager::createDisplay	(	const QString &	class_lookup_name,
		const QString &	name,
		bool	enabled
	)

Create and add a display to this panel, by class lookup name.

Parameters

class_lookup_name	"lookup name" of the Display subclass, for pluginlib. Should be of the form "packagename/displaynameofclass", like "rviz/Image".
name	The name of this display instance shown on the GUI, like "Left arm camera".
enabled	Whether to start enabled

Returns: A pointer to the new display.

Definition at line 478 of file visualization_manager.cpp.

void rviz::VisualizationManager::emitStatusUpdate ( const QString & message )

Emits statusUpdate() signal with the given message.

Definition at line 450 of file visualization_manager.cpp.

virtual uint32_t rviz::VisualizationManager::getDefaultVisibilityBit ( ) const

inlinevirtual

Implements rviz::DisplayContext.

Definition at line 311 of file visualization_manager.h.

virtual DisplayFactory* rviz::VisualizationManager::getDisplayFactory ( ) const

inlinevirtual

Return a factory for creating Display subclasses based on a class id string.

Implements rviz::DisplayContext.

Definition at line 302 of file visualization_manager.h.

PropertyTreeModel* rviz::VisualizationManager::getDisplayTreeModel ( ) const

inline

Definition at line 304 of file visualization_manager.h.

QString rviz::VisualizationManager::getFixedFrame ( ) const

virtual

Return the fixed frame name.

See also: setFixedFrame()

Implements rviz::DisplayContext.

Definition at line 599 of file visualization_manager.cpp.

uint64_t rviz::VisualizationManager::getFrameCount ( ) const

inlinevirtual

Return the current value of the frame count.

The frame count is just a number which increments each time a frame is rendered. This lets clients check if a new frame has been rendered since the last time they did something.

Implements rviz::DisplayContext.

Definition at line 295 of file visualization_manager.h.

FrameManager* rviz::VisualizationManager::getFrameManager ( ) const

inlinevirtual

Return the FrameManager instance.

Implements rviz::DisplayContext.

Definition at line 288 of file visualization_manager.h.

virtual QString rviz::VisualizationManager::getHelpPath ( ) const

inlinevirtual

Definition at line 318 of file visualization_manager.h.

RenderPanel* rviz::VisualizationManager::getRenderPanel ( ) const

inline

Return the main RenderPanel.

Definition at line 200 of file visualization_manager.h.

virtual DisplayGroup* rviz::VisualizationManager::getRootDisplayGroup ( ) const

inlinevirtual

Implements rviz::DisplayContext.

Definition at line 309 of file visualization_manager.h.

double rviz::VisualizationManager::getROSTime ( )

Return the ROS time, in seconds.

Definition at line 495 of file visualization_manager.cpp.

double rviz::VisualizationManager::getROSTimeElapsed ( )

Return the ROS time in seconds since the last reset.

Definition at line 505 of file visualization_manager.cpp.

Ogre::SceneManager* rviz::VisualizationManager::getSceneManager ( ) const

inlinevirtual

Returns the Ogre::SceneManager used for the main RenderPanel.

Implements rviz::DisplayContext.

Definition at line 195 of file visualization_manager.h.

SelectionManager* rviz::VisualizationManager::getSelectionManager ( ) const

inlinevirtual

Return a pointer to the SelectionManager.

Implements rviz::DisplayContext.

Definition at line 248 of file visualization_manager.h.

tf::TransformListener * rviz::VisualizationManager::getTFClient ( ) const

virtual

Convenience function: returns getFrameManager()->getTFClient().

Implements rviz::DisplayContext.

Definition at line 422 of file visualization_manager.cpp.

ros::CallbackQueueInterface * rviz::VisualizationManager::getThreadedQueue ( )

virtual

Return a CallbackQueue using a different thread than the main GUI one.

Implements rviz::DisplayContext.

Definition at line 248 of file visualization_manager.cpp.

virtual ToolManager* rviz::VisualizationManager::getToolManager ( ) const

inlinevirtual

Return a pointer to the ToolManager.

Implements rviz::DisplayContext.

Definition at line 251 of file visualization_manager.h.

ros::CallbackQueueInterface * rviz::VisualizationManager::getUpdateQueue ( )

virtual

Return the CallbackQueue using the main GUI thread.

Implements rviz::DisplayContext.

Definition at line 263 of file visualization_manager.cpp.

virtual ViewManager* rviz::VisualizationManager::getViewManager ( ) const

inlinevirtual

Return a pointer to the ViewManager.

Implements rviz::DisplayContext.

Definition at line 254 of file visualization_manager.h.

double rviz::VisualizationManager::getWallClock ( )

Return the wall clock time, in seconds since 1970.

Definition at line 490 of file visualization_manager.cpp.

double rviz::VisualizationManager::getWallClockElapsed ( )

Return the wall clock time in seconds since the last reset.

Definition at line 500 of file visualization_manager.cpp.

WindowManagerInterface* rviz::VisualizationManager::getWindowManager ( ) const

inlinevirtual

Return the window manager, if any.

Implements rviz::DisplayContext.

Definition at line 275 of file visualization_manager.h.

void rviz::VisualizationManager::handleChar	(	QKeyEvent *	event,
		RenderPanel *	panel
	)

virtual

Handle a single key event for a given RenderPanel.

If the key is Escape, switches to the default Tool (via getDefaultTool()). All other key events are passed to the current Tool (via getCurrentTool()).

Implements rviz::DisplayContext.

Definition at line 569 of file visualization_manager.cpp.

void rviz::VisualizationManager::handleMouseEvent ( const ViewportMouseEvent & event )

virtual

Handle a mouse event.

This just copies the given event into an event queue. The events in the queue are processed by onUpdate() which is called from the main thread by a timer every 33ms.

Implements rviz::DisplayContext.

Definition at line 530 of file visualization_manager.cpp.

void rviz::VisualizationManager::initialize ( )

Do initialization that wasn't done in constructor. Initializes tool manager, view manager, selection manager.

Definition at line 236 of file visualization_manager.cpp.

void rviz::VisualizationManager::load ( const Config & config )

Load the properties of each Display and most editable rviz data.

This is what is called when loading a "*.rviz" file.

Parameters

config The Config object to read from. Expected to be a Config::Map type.

See also: save()

Definition at line 455 of file visualization_manager.cpp.

void rviz::VisualizationManager::lockRender ( )

Lock a mutex to delay calls to Ogre::Root::renderOneFrame().

Definition at line 253 of file visualization_manager.cpp.

void rviz::VisualizationManager::notifyConfigChanged ( )

Notify this VisualizationManager that something about its display configuration has changed.

Definition at line 582 of file visualization_manager.cpp.

void rviz::VisualizationManager::onToolChanged ( Tool * tool )

protectedslot

Definition at line 587 of file visualization_manager.cpp.

void rviz::VisualizationManager::onUpdate ( )

protectedslot

Call update() on all managed objects.

This is the central place where update() is called on most rviz objects. Display objects, the FrameManager, the current ViewController, the SelectionManager, PropertyManager. Also calls ros::spinOnce(), so any callbacks on the global CallbackQueue get called from here as well.

It is called at 30Hz from the update timer.

Definition at line 309 of file visualization_manager.cpp.

void rviz::VisualizationManager::preUpdate ( )

signal

Emitted before updating all Displays.

void rviz::VisualizationManager::queueRender ( )

virtual

Queues a render. Multiple calls before a render happens will only cause a single render.

Note: This function can be called from any thread.

Implements rviz::DisplayContext.

Definition at line 304 of file visualization_manager.cpp.

void rviz::VisualizationManager::removeAllDisplays ( )

Remove and delete all displays.

Definition at line 445 of file visualization_manager.cpp.

void rviz::VisualizationManager::resetTime ( )

Resets the wall and ROS elapsed time to zero and calls resetDisplays().

Definition at line 427 of file visualization_manager.cpp.

void rviz::VisualizationManager::save ( Config config ) const

Save the properties of each Display and most editable rviz data.

This is what is called when saving a "*.vcg" file.

Parameters

config The object to write to.

See also: loadDisplayConfig()

Definition at line 471 of file visualization_manager.cpp.

void rviz::VisualizationManager::setFixedFrame ( const QString & frame )

Set the coordinate frame we should be transforming all fixed data into.

Parameters

frame The name of the frame – must match the frame name broadcast to libTF

See also: getFixedFrame()

Definition at line 604 of file visualization_manager.cpp.

virtual void rviz::VisualizationManager::setHelpPath ( const QString & help_path )

inlinevirtual

Definition at line 317 of file visualization_manager.h.

void rviz::VisualizationManager::setStatus ( const QString & message )

virtual

Set the message displayed in the status bar

Implements rviz::DisplayContext.

Definition at line 609 of file visualization_manager.cpp.

void rviz::VisualizationManager::startUpdate ( )

Start timers. Creates and starts the update and idle timers, both set to 30Hz (33ms).

Definition at line 268 of file visualization_manager.cpp.

void rviz::VisualizationManager::statusUpdate ( const QString & message )

signal

Emitted during file-loading and initialization to indicate progress.

void rviz::VisualizationManager::stopUpdate ( )

Definition at line 274 of file visualization_manager.cpp.

void rviz::VisualizationManager::threadedQueueThreadFunc ( )

protected

Definition at line 574 of file visualization_manager.cpp.

void rviz::VisualizationManager::unlockRender ( )

Unlock a mutex, allowing calls to Ogre::Root::renderOneFrame().

Definition at line 258 of file visualization_manager.cpp.

void rviz::VisualizationManager::updateBackgroundColor ( )

privateslot

Definition at line 510 of file visualization_manager.cpp.

void rviz::VisualizationManager::updateDefaultLightVisible ( )

privateslot

Definition at line 525 of file visualization_manager.cpp.

void rviz::VisualizationManager::updateFixedFrame ( )

privateslot

Definition at line 591 of file visualization_manager.cpp.

void rviz::VisualizationManager::updateFps ( )

privateslot

Definition at line 517 of file visualization_manager.cpp.

void rviz::VisualizationManager::updateFrames ( )

protected

Definition at line 392 of file visualization_manager.cpp.

void rviz::VisualizationManager::updateTime ( )

protected

Definition at line 375 of file visualization_manager.cpp.

virtual BitAllocator* rviz::VisualizationManager::visibilityBits ( )

inlinevirtual

Implements rviz::DisplayContext.

Definition at line 313 of file visualization_manager.h.

Member Data Documentation

ColorProperty* rviz::VisualizationManager::background_color_property_

protected

Definition at line 381 of file visualization_manager.h.

BoolProperty* rviz::VisualizationManager::default_light_enabled_property_

protected

Definition at line 372 of file visualization_manager.h.

uint32_t rviz::VisualizationManager::default_visibility_bit_

private

Definition at line 406 of file visualization_manager.h.

Ogre::Light* rviz::VisualizationManager::directional_light_

private

Definition at line 409 of file visualization_manager.h.

DisplayFactory* rviz::VisualizationManager::display_factory_

private

Definition at line 404 of file visualization_manager.h.

PropertyTreeModel* rviz::VisualizationManager::display_property_tree_model_

protected

Definition at line 362 of file visualization_manager.h.

TfFrameProperty* rviz::VisualizationManager::fixed_frame_property_

protected

Frame to transform fixed data to.

Definition at line 369 of file visualization_manager.h.

IntProperty* rviz::VisualizationManager::fps_property_

protected

Definition at line 371 of file visualization_manager.h.

uint64_t rviz::VisualizationManager::frame_count_

protected

Definition at line 389 of file visualization_manager.h.

FrameManager* rviz::VisualizationManager::frame_manager_

protected

Definition at line 393 of file visualization_manager.h.

float rviz::VisualizationManager::frame_update_timer_

protected

Definition at line 384 of file visualization_manager.h.

Property* rviz::VisualizationManager::global_options_

protected

Definition at line 368 of file visualization_manager.h.

StatusList* rviz::VisualizationManager::global_status_

protected

Definition at line 370 of file visualization_manager.h.

QString rviz::VisualizationManager::help_path_

private

Definition at line 408 of file visualization_manager.h.

ros::Time rviz::VisualizationManager::last_update_ros_time_

protected

Update stopwatch. Stores how long it's been since the last update.

Definition at line 357 of file visualization_manager.h.

ros::WallTime rviz::VisualizationManager::last_update_wall_time_

protected

Definition at line 358 of file visualization_manager.h.

OgreRenderQueueClearer* rviz::VisualizationManager::ogre_render_queue_clearer_

protected

Definition at line 395 of file visualization_manager.h.

Ogre::Root* rviz::VisualizationManager::ogre_root_

protected

Ogre Root.

Definition at line 353 of file visualization_manager.h.

VisualizationManagerPrivate* rviz::VisualizationManager::private_

private

Definition at line 405 of file visualization_manager.h.

RenderPanel* rviz::VisualizationManager::render_panel_

protected

Definition at line 374 of file visualization_manager.h.

uint32_t rviz::VisualizationManager::render_requested_

protected

Definition at line 388 of file visualization_manager.h.

DisplayGroup* rviz::VisualizationManager::root_display_group_

protected

Definition at line 363 of file visualization_manager.h.

ros::Time rviz::VisualizationManager::ros_time_begin_

protected

Definition at line 377 of file visualization_manager.h.

ros::Duration rviz::VisualizationManager::ros_time_elapsed_

protected

Definition at line 379 of file visualization_manager.h.

Ogre::SceneManager* rviz::VisualizationManager::scene_manager_

protected

Ogre scene manager associated with this panel.

Definition at line 354 of file visualization_manager.h.

SelectionManager* rviz::VisualizationManager::selection_manager_

protected

Definition at line 386 of file visualization_manager.h.

volatile bool rviz::VisualizationManager::shutting_down_

protected

Definition at line 360 of file visualization_manager.h.

float rviz::VisualizationManager::time_update_timer_

protected

Definition at line 383 of file visualization_manager.h.

ToolManager* rviz::VisualizationManager::tool_manager_

protected

Definition at line 365 of file visualization_manager.h.

QTimer* rviz::VisualizationManager::update_timer_

protected

Update timer. Display::update is called on each display whenever this timer fires.

Definition at line 356 of file visualization_manager.h.

ViewManager* rviz::VisualizationManager::view_manager_

protected

Definition at line 366 of file visualization_manager.h.

BitAllocator rviz::VisualizationManager::visibility_bit_allocator_

private

Definition at line 407 of file visualization_manager.h.

ros::WallTime rviz::VisualizationManager::wall_clock_begin_

protected

Definition at line 376 of file visualization_manager.h.

ros::WallDuration rviz::VisualizationManager::wall_clock_elapsed_

protected

Definition at line 378 of file visualization_manager.h.

WindowManagerInterface* rviz::VisualizationManager::window_manager_

protected

Definition at line 391 of file visualization_manager.h.

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

Signals

Public Member Functions

Protected Slots

Protected Member Functions

Protected Attributes

Private Slots

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation