moveit_rviz_plugin::PropertyFactory Class Reference

#include <property_factory.h>

Public Types
using	PropertyFactoryFunction = std::function< rviz::Property *(const QString &, moveit::task_constructor::Property &, const planning_scene::PlanningScene *, rviz::DisplayContext *)>
using	TreeFactoryFunction = std::function< rviz::PropertyTreeModel *(moveit::task_constructor::PropertyMap &, const planning_scene::PlanningScene *, rviz::DisplayContext *)>

Public Member Functions
void	addRemainingProperties (rviz::Property *root, moveit::task_constructor::PropertyMap &properties, const planning_scene::PlanningScene *scene, rviz::DisplayContext *display_context)
	add all properties from map that are not yet in root More...
rviz::Property *	create (const std::string &prop_name, moveit::task_constructor::Property &prop, const planning_scene::PlanningScene *scene, rviz::DisplayContext *display_context) const
	create rviz::Property for given MTC Property More...
rviz::PropertyTreeModel *	createPropertyTreeModel (moveit::task_constructor::Stage &stage, const planning_scene::PlanningScene *scene, rviz::DisplayContext *display_context)
	create PropertyTreeModel for given Stage More...
rviz::PropertyTreeModel *	defaultPropertyTreeModel (moveit::task_constructor::PropertyMap &properties, const planning_scene::PlanningScene *scene, rviz::DisplayContext *display_context)
	turn a PropertyMap into an rviz::PropertyTreeModel More...
template<typename T >
void	registerStage (const TreeFactoryFunction &f)
	register a factory function for stage T More...
template<typename T >
void	registerType (const PropertyFactoryFunction &f)
	register a factory function for type T More...

Static Public Member Functions
static rviz::Property *	createDefault (const std::string &name, const std::string &type, const std::string &description, const std::string &value, rviz::Property *old=nullptr)
	create rviz::Property for property of given name, type, description, and value More...
static PropertyFactory &	instance ()

Private Member Functions
void	operator= (const PropertyFactory &)=delete
	PropertyFactory ()
	class is singleton More...
	PropertyFactory (const PropertyFactory &)=delete
void	registerStage (const std::type_index &type_index, const TreeFactoryFunction &f)
void	registerType (const std::string &type_name, const PropertyFactoryFunction &f)

Private Attributes
std::map< std::string, PropertyFactoryFunction >	property_registry_
std::map< std::type_index, TreeFactoryFunction >	stage_registry_

Detailed Description

Registry for rviz::Property and rviz::PropertyTreeModel creator functions.

To inspect (and edit) properties of stages, our MTC properties are converted to rviz properties, which are finally shown in an rviz::PropertyTree. To allow customization of property display, one can register creator functions for individual properties as well as creator functions for a complete stage. The latter allows to fully customize the display of stage properties, e.g. hiding specific properties, or returning a subclassed PropertyTreeModel with modified behaviour. By default, defaultPropertyTreeModel() creates an rviz property for each MTC property.

Definition at line 73 of file property_factory.h.

Member Typedef Documentation

PropertyFactoryFunction

using moveit_rviz_plugin::PropertyFactory::PropertyFactoryFunction = std::function<rviz::Property*(const QString&, moveit::task_constructor::Property&, const planning_scene::PlanningScene*, rviz::DisplayContext*)>

Definition at line 80 of file property_factory.h.

TreeFactoryFunction

using moveit_rviz_plugin::PropertyFactory::TreeFactoryFunction = std::function<rviz::PropertyTreeModel*( moveit::task_constructor::PropertyMap&, const planning_scene::PlanningScene*, rviz::DisplayContext*)>

Definition at line 82 of file property_factory.h.

Constructor & Destructor Documentation

PropertyFactory() [1/2]

moveit_rviz_plugin::PropertyFactory::PropertyFactory ( )

private

class is singleton

Definition at line 107 of file property_factory.cpp.

PropertyFactory() [2/2]

moveit_rviz_plugin::PropertyFactory::PropertyFactory ( const PropertyFactory &  )

privatedelete

Member Function Documentation

addRemainingProperties()

void moveit_rviz_plugin::PropertyFactory::addRemainingProperties	(	rviz::Property *	root,
		moveit::task_constructor::PropertyMap &	properties,
		const planning_scene::PlanningScene *	scene,
		rviz::DisplayContext *	display_context
	)

add all properties from map that are not yet in root

Definition at line 163 of file property_factory.cpp.

create()

rviz::Property * moveit_rviz_plugin::PropertyFactory::create	(	const std::string &	prop_name,
		moveit::task_constructor::Property &	prop,
		const planning_scene::PlanningScene *	scene,
		rviz::DisplayContext *	display_context
	)		const

create rviz::Property for given MTC Property

Definition at line 129 of file property_factory.cpp.

createDefault()

rviz::Property * moveit_rviz_plugin::PropertyFactory::createDefault ( const std::string &  name, const std::string &  type, const std::string &  description, const std::string &  value, rviz::Property *  old = nullptr  )

static

create rviz::Property for property of given name, type, description, and value

Definition at line 183 of file property_factory.cpp.

createPropertyTreeModel()

rviz::PropertyTreeModel * moveit_rviz_plugin::PropertyFactory::createPropertyTreeModel	(	moveit::task_constructor::Stage &	stage,
		const planning_scene::PlanningScene *	scene,
		rviz::DisplayContext *	display_context
	)

create PropertyTreeModel for given Stage

Definition at line 138 of file property_factory.cpp.

defaultPropertyTreeModel()

rviz::PropertyTreeModel * moveit_rviz_plugin::PropertyFactory::defaultPropertyTreeModel	(	moveit::task_constructor::PropertyMap &	properties,
		const planning_scene::PlanningScene *	scene,
		rviz::DisplayContext *	display_context
	)

turn a PropertyMap into an rviz::PropertyTreeModel

Definition at line 147 of file property_factory.cpp.

instance()

PropertyFactory & moveit_rviz_plugin::PropertyFactory::instance ( )

static

Definition at line 114 of file property_factory.cpp.

operator=()

void moveit_rviz_plugin::PropertyFactory::operator= ( const PropertyFactory &  )

privatedelete

registerStage() [1/2]

void moveit_rviz_plugin::PropertyFactory::registerStage ( const std::type_index &  type_index, const TreeFactoryFunction &  f  )

private

Definition at line 125 of file property_factory.cpp.

registerStage() [2/2]

template<typename T >

void moveit_rviz_plugin::PropertyFactory::registerStage ( const TreeFactoryFunction &  f )

inline

register a factory function for stage T

Definition at line 93 of file property_factory.h.

registerType() [1/2]

template<typename T >

void moveit_rviz_plugin::PropertyFactory::registerType ( const PropertyFactoryFunction &  f )

inline

register a factory function for type T

Definition at line 86 of file property_factory.h.

registerType() [2/2]

void moveit_rviz_plugin::PropertyFactory::registerType ( const std::string &  type_name, const PropertyFactoryFunction &  f  )

private

Definition at line 119 of file property_factory.cpp.

Member Data Documentation

property_registry_

std::map<std::string, PropertyFactoryFunction> moveit_rviz_plugin::PropertyFactory::property_registry_

private

Definition at line 120 of file property_factory.h.

stage_registry_

std::map<std::type_index, TreeFactoryFunction> moveit_rviz_plugin::PropertyFactory::stage_registry_

private

Definition at line 121 of file property_factory.h.

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

• property_factory.h
• property_factory.cpp
• property_from_yaml.cpp