#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)

	~Robot () override

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

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

void	initLinkTreeStyle ()

void	setEnableAllLinksCheckbox (const 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 79 of file robot.h.

Member Typedef Documentation

◆ M_NameToJoint

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

Definition at line 152 of file robot.h.

◆ M_NameToLink

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

Definition at line 151 of file robot.h.

Member Enumeration Documentation

◆ LinkTreeStyle

enum rviz::Robot::LinkTreeStyle

Enumerator
STYLE_LINK_LIST
STYLE_DEFAULT
STYLE_JOINT_LIST
STYLE_LINK_TREE
STYLE_JOINT_LINK_TREE

Definition at line 220 of file robot.h.

Constructor & Destructor Documentation

◆ Robot()

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

Definition at line 56 of file robot.cpp.

◆ ~Robot()

Robot::~Robot ( )

override

Definition at line 100 of file robot.cpp.

Member Function Documentation

◆ addJointToLinkTree()

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

protected

Definition at line 606 of file robot.cpp.

◆ addLinkToLinkTree()

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

protected

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

Definition at line 585 of file robot.cpp.

◆ calculateJointCheckboxes()

void Robot::calculateJointCheckboxes ( )

Definition at line 646 of file robot.cpp.

◆ changedEnableAllLinks

void Robot::changedEnableAllLinks ( )

privateslot

Definition at line 411 of file robot.cpp.

◆ changedExpandJointDetails

void Robot::changedExpandJointDetails ( )

privateslot

Definition at line 399 of file robot.cpp.

◆ changedExpandLinkDetails

void Robot::changedExpandLinkDetails ( )

privateslot

Definition at line 387 of file robot.cpp.

◆ changedExpandTree

void Robot::changedExpandTree ( )

privateslot

Definition at line 343 of file robot.cpp.

◆ changedHideSubProperties

void Robot::changedHideSubProperties ( )

privateslot

Definition at line 368 of file robot.cpp.

◆ changedLinkTreeStyle

void Robot::changedLinkTreeStyle ( )

privateslot

Definition at line 494 of file robot.cpp.

◆ clear()

void Robot::clear ( )

virtual

Clears all data loaded from a URDF.

Definition at line 189 of file robot.cpp.

◆ getAlpha()

float rviz::Robot::getAlpha ( )

inline

Definition at line 139 of file robot.h.

◆ getCollisionNode()

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

inline

Definition at line 171 of file robot.h.

◆ getDisplayContext()

DisplayContext* rviz::Robot::getDisplayContext ( )

inline

Definition at line 183 of file robot.h.

◆ getJoint()

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

Definition at line 634 of file robot.cpp.

◆ getJoints()

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

inline

Definition at line 157 of file robot.h.

◆ getLink()

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

Definition at line 622 of file robot.cpp.

◆ getLinks()

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

inline

Definition at line 153 of file robot.h.

◆ getLinkTreeProperty()

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 233 of file robot.h.

◆ getName()

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

inline

Definition at line 162 of file robot.h.

◆ getOrientation()

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

virtual

Definition at line 791 of file robot.cpp.

◆ getOtherNode()

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

inline

Definition at line 175 of file robot.h.

◆ getPosition()

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

virtual

Definition at line 786 of file robot.cpp.

◆ getRootLink()

RobotLink* rviz::Robot::getRootLink ( )

inline

Definition at line 144 of file robot.h.

◆ getSceneManager()

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

inline

Definition at line 179 of file robot.h.

◆ getVisualNode()

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

inline

Definition at line 167 of file robot.h.

◆ initLinkTreeStyle()

void Robot::initLinkTreeStyle ( )

protected

initialize style_name_map_ and link_tree_style_ options

Definition at line 452 of file robot.cpp.

◆ isCollisionVisible()

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 170 of file robot.cpp.

◆ isVisible()

bool Robot::isVisible ( )

Returns whether anything is visible.

Definition at line 160 of file robot.cpp.

◆ isVisualVisible()

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 165 of file robot.cpp.

◆ load()

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 233 of file robot.cpp.

◆ setAlpha()

void Robot::setAlpha ( float a )

Definition at line 175 of file robot.cpp.

◆ setCollisionVisible()

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 143 of file robot.cpp.

◆ setEnableAllLinksCheckbox()

void Robot::setEnableAllLinksCheckbox ( const QVariant & val )

protected

Definition at line 443 of file robot.cpp.

◆ setLinkFactory()

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 111 of file robot.cpp.

◆ setLinkTreeStyle()

void Robot::setLinkTreeStyle ( LinkTreeStyle style )

Set the style of the link property.

Definition at line 484 of file robot.cpp.

◆ setOrientation()

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

virtual

Definition at line 774 of file robot.cpp.

◆ setPosition()

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

virtual

Definition at line 768 of file robot.cpp.

◆ setScale()

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

virtual

Definition at line 780 of file robot.cpp.

◆ setVisible()

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 120 of file robot.cpp.

◆ setVisualVisible()

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 137 of file robot.cpp.

◆ styleIsTree()

bool Robot::styleIsTree ( LinkTreeStyle style )

staticprotected

Definition at line 479 of file robot.cpp.

◆ styleShowJoint()

bool Robot::styleShowJoint ( LinkTreeStyle style )

staticprotected

Definition at line 474 of file robot.cpp.

◆ styleShowLink()

bool Robot::styleShowLink ( LinkTreeStyle style )

staticprotected

Definition at line 469 of file robot.cpp.

◆ unparentLinkProperties()

void Robot::unparentLinkProperties ( )

protected

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

Definition at line 305 of file robot.cpp.

◆ update()

void Robot::update ( const LinkUpdater & updater )

virtual

Definition at line 699 of file robot.cpp.

◆ updateLinkVisibilities()

void Robot::updateLinkVisibilities ( )

protected

Call RobotLink::updateVisibility() on each link.

Definition at line 149 of file robot.cpp.

◆ useDetailProperty()

void Robot::useDetailProperty ( bool use_detail )

protected

Definition at line 324 of file robot.cpp.

Member Data Documentation

◆ alpha_

float rviz::Robot::alpha_

protected

Definition at line 306 of file robot.h.

◆ collision_visible_

bool rviz::Robot::collision_visible_

protected

Should we show the collision representation?

Definition at line 287 of file robot.h.

◆ context_

DisplayContext* rviz::Robot::context_

protected

Definition at line 289 of file robot.h.

◆ doing_set_checkbox_

bool rviz::Robot::doing_set_checkbox_

protected

Definition at line 298 of file robot.h.

◆ enable_all_links_

BoolProperty* rviz::Robot::enable_all_links_

protected

Definition at line 295 of file robot.h.

◆ expand_joint_details_

BoolProperty* rviz::Robot::expand_joint_details_

protected

Definition at line 294 of file robot.h.

◆ expand_link_details_

BoolProperty* rviz::Robot::expand_link_details_

protected

Definition at line 293 of file robot.h.

◆ expand_tree_

BoolProperty* rviz::Robot::expand_tree_

protected

Definition at line 292 of file robot.h.

◆ inChangedEnableAllLinks

bool rviz::Robot::inChangedEnableAllLinks

protected

Definition at line 303 of file robot.h.

◆ joints_

M_NameToJoint rviz::Robot::joints_

protected

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

Definition at line 276 of file robot.h.

◆ link_factory_

LinkFactory* rviz::Robot::link_factory_

protected

factory for generating links and joints

Definition at line 279 of file robot.h.

◆ link_tree_

Property* rviz::Robot::link_tree_

protected

Definition at line 290 of file robot.h.

◆ link_tree_style_

EnumProperty* rviz::Robot::link_tree_style_

protected

Definition at line 291 of file robot.h.

◆ links_

M_NameToLink rviz::Robot::links_

protected

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

Definition at line 275 of file robot.h.

◆ name_

std::string rviz::Robot::name_

protected

Definition at line 305 of file robot.h.

◆ robot_loaded_

bool rviz::Robot::robot_loaded_

protected

Definition at line 299 of file robot.h.

◆ root_collision_node_

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

protected

Node all our collision nodes are children of.

Definition at line 282 of file robot.h.

◆ root_link_

RobotLink* rviz::Robot::root_link_

protected

Definition at line 277 of file robot.h.

◆ root_other_node_

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

protected

Definition at line 283 of file robot.h.

◆ root_visual_node_

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

protected

Node all our visual nodes are children of.

Definition at line 281 of file robot.h.

◆ scene_manager_

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

protected

Definition at line 273 of file robot.h.

◆ style_name_map_

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

protected

Definition at line 296 of file robot.h.

◆ visible_

bool rviz::Robot::visible_

protected

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

Definition at line 285 of file robot.h.

◆ visual_visible_

bool rviz::Robot::visual_visible_

protected

Should we show the visual representation?

Definition at line 286 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

◆ M_NameToJoint

◆ M_NameToLink

Member Enumeration Documentation

◆ LinkTreeStyle

Constructor & Destructor Documentation

◆ Robot()

◆ ~Robot()

Member Function Documentation

◆ addJointToLinkTree()

◆ addLinkToLinkTree()

◆ calculateJointCheckboxes()

◆ changedEnableAllLinks

◆ changedExpandJointDetails

◆ changedExpandLinkDetails

◆ changedExpandTree

◆ changedHideSubProperties

◆ changedLinkTreeStyle

◆ clear()

◆ getAlpha()

◆ getCollisionNode()

◆ getDisplayContext()

◆ getJoint()

◆ getJoints()

◆ getLink()

◆ getLinks()

◆ getLinkTreeProperty()

◆ getName()

◆ getOrientation()

◆ getOtherNode()

◆ getPosition()

◆ getRootLink()

◆ getSceneManager()

◆ getVisualNode()

◆ initLinkTreeStyle()

◆ isCollisionVisible()

◆ isVisible()

◆ isVisualVisible()

◆ load()

◆ setAlpha()

◆ setCollisionVisible()

◆ setEnableAllLinksCheckbox()

◆ setLinkFactory()

◆ setLinkTreeStyle()

◆ setOrientation()

◆ setPosition()

◆ setScale()

◆ setVisible()

◆ setVisualVisible()

◆ styleIsTree()

◆ styleShowJoint()

◆ styleShowLink()

◆ unparentLinkProperties()

◆ update()

◆ updateLinkVisibilities()

◆ useDetailProperty()

Member Data Documentation

◆ alpha_

◆ collision_visible_

◆ context_

◆ doing_set_checkbox_

◆ enable_all_links_

◆ expand_joint_details_

◆ expand_link_details_

◆ expand_tree_

◆ inChangedEnableAllLinks

◆ joints_

◆ link_factory_

◆ link_tree_

◆ link_tree_style_

◆ links_

◆ name_