Constructs RVIZ markers that visualize a Cartesian robot state. More...

#include <rviz_robot_builder.h>

Public Types
using	ContactState = EndeffectorsContact

using	EEForces = Endeffectors< Vector3d >

using	EEPos = EndeffectorsPos

using	Marker = visualization_msgs::Marker

using	MarkerArray = visualization_msgs::MarkerArray

using	MarkerVec = std::vector< Marker >

using	RobotState = RobotStateCartesian

using	TerrainNormals = Endeffectors< Vector3d >

Public Member Functions
MarkerArray	BuildRobotState (const xpp_msgs::RobotStateCartesian &msg) const
	Constructs the RVIZ markers from the ROS message. More...

	RvizRobotBuilder ()
	Builds an uninitialized visualizer. More...

void	SetRobotParameters (const xpp_msgs::RobotParameters &msg)
	Provides additional robot info that can be used for visualization. More...

void	SetTerrainParameters (const xpp_msgs::TerrainInfo &msg)
	Additional information that can be used for visualization. More...

virtual	~RvizRobotBuilder ()=default

Private Member Functions
Marker	CreateBasePose (const Vector3d &pos, Eigen::Quaterniond ori, const ContactState &c) const

Marker	CreateBox (const Vector3d &pos, Eigen::Quaterniond ori, const Vector3d &edge_length) const

Marker	CreateCopPos (const EEForces &f_W, const EEPos &pos_W) const

MarkerVec	CreateEEForces (const EEForces &f_W, const EEPos &pos_W, const ContactState &c) const

MarkerVec	CreateEEPositions (const EEPos &pos_W, const ContactState &c) const

Marker	CreateForceArrow (const Vector3d &f, const Vector3d &pos) const

Marker	CreateFrictionCone (const Vector3d &pos_W, const Vector3d &terrain_normal, double friction_coeff) const

MarkerVec	CreateFrictionCones (const EEPos &pos_W, const ContactState &c) const

Marker	CreateGravityForce (const Vector3d &base_pos) const

Marker	CreatePendulum (const Vector3d &base_pos, const EEForces &f_W, const EEPos &pos_W) const

MarkerVec	CreateRangeOfMotion (const State3d &base) const

Marker	CreateSphere (const Vector3d &pos, double diameter=0.03) const

MarkerVec	CreateSupportArea (const ContactState &c, const EEPos &pos_W) const

void	FillWithInvisible (int max_size, MarkerVec &vec) const

Private Attributes
const std::string	frame_id_ = "world"

xpp_msgs::RobotParameters	params_msg_

xpp_msgs::TerrainInfo	terrain_msg_

Static Private Attributes
const static int	max_ee_ = 10

Detailed Description

Constructs RVIZ markers that visualize a Cartesian robot state.

This class is responsible for converting robot states into beautiful RVIZ markers. The visualize quantities such as 6D base state, endeffector positions, contact state of these, endeffector forces, support areas and center of pressure.

Definition at line 83 of file rviz_robot_builder.h.

Member Typedef Documentation

◆ ContactState

using xpp::RvizRobotBuilder::ContactState = EndeffectorsContact

Definition at line 116 of file rviz_robot_builder.h.

◆ EEForces

using xpp::RvizRobotBuilder::EEForces = Endeffectors<Vector3d>

Definition at line 118 of file rviz_robot_builder.h.

◆ EEPos

using xpp::RvizRobotBuilder::EEPos = EndeffectorsPos

Definition at line 117 of file rviz_robot_builder.h.

◆ Marker

using xpp::RvizRobotBuilder::Marker = visualization_msgs::Marker

Definition at line 112 of file rviz_robot_builder.h.

◆ MarkerArray

using xpp::RvizRobotBuilder::MarkerArray = visualization_msgs::MarkerArray

Definition at line 114 of file rviz_robot_builder.h.

◆ MarkerVec

using xpp::RvizRobotBuilder::MarkerVec = std::vector<Marker>

Definition at line 113 of file rviz_robot_builder.h.

◆ RobotState

using xpp::RvizRobotBuilder::RobotState = RobotStateCartesian

Definition at line 120 of file rviz_robot_builder.h.

◆ TerrainNormals

using xpp::RvizRobotBuilder::TerrainNormals = Endeffectors<Vector3d>

Definition at line 119 of file rviz_robot_builder.h.

Constructor & Destructor Documentation

◆ RvizRobotBuilder()

xpp::RvizRobotBuilder::RvizRobotBuilder ( )

Builds an uninitialized visualizer.

Definition at line 64 of file rviz_robot_builder.cc.

◆ ~RvizRobotBuilder()

virtual xpp::RvizRobotBuilder::~RvizRobotBuilder ( )

virtualdefault

Member Function Documentation

◆ BuildRobotState()

RvizRobotBuilder::MarkerArray xpp::RvizRobotBuilder::BuildRobotState ( const xpp_msgs::RobotStateCartesian & msg ) const

Constructs the RVIZ markers from the ROS message.

Parameters

msg	The ROS message describing the Cartesian robot state.

Returns: The array of RVIZ markers to be published.

Definition at line 90 of file rviz_robot_builder.cc.

◆ CreateBasePose()

RvizRobotBuilder::Marker xpp::RvizRobotBuilder::CreateBasePose	(	const Vector3d &	pos,
		Eigen::Quaterniond	ori,
		const ContactState &	c
	)		const

private

Definition at line 243 of file rviz_robot_builder.cc.

◆ CreateBox()

RvizRobotBuilder::Marker xpp::RvizRobotBuilder::CreateBox	(	const Vector3d &	pos,
		Eigen::Quaterniond	ori,
		const Vector3d &	edge_length
	)		const

private

Definition at line 338 of file rviz_robot_builder.cc.

◆ CreateCopPos()

RvizRobotBuilder::Marker xpp::RvizRobotBuilder::CreateCopPos	(	const EEForces &	f_W,
		const EEPos &	pos_W
	)		const

private

Definition at line 262 of file rviz_robot_builder.cc.

◆ CreateEEForces()

RvizRobotBuilder::MarkerVec xpp::RvizRobotBuilder::CreateEEForces	(	const EEForces &	f_W,
		const EEPos &	pos_W,
		const ContactState &	c
	)		const

private

Definition at line 169 of file rviz_robot_builder.cc.

◆ CreateEEPositions()

RvizRobotBuilder::MarkerVec xpp::RvizRobotBuilder::CreateEEPositions	(	const EEPos &	pos_W,
		const ContactState &	c
	)		const

private

Definition at line 140 of file rviz_robot_builder.cc.

◆ CreateForceArrow()

RvizRobotBuilder::Marker xpp::RvizRobotBuilder::CreateForceArrow	(	const Vector3d &	f,
		const Vector3d &	pos
	)		const

private

Definition at line 366 of file rviz_robot_builder.cc.

◆ CreateFrictionCone()

RvizRobotBuilder::Marker xpp::RvizRobotBuilder::CreateFrictionCone	(	const Vector3d &	pos_W,
		const Vector3d &	terrain_normal,
		double	friction_coeff
	)		const

private

Definition at line 219 of file rviz_robot_builder.cc.

◆ CreateFrictionCones()

RvizRobotBuilder::MarkerVec xpp::RvizRobotBuilder::CreateFrictionCones	(	const EEPos &	pos_W,
		const ContactState &	c
	)		const

private

Definition at line 190 of file rviz_robot_builder.cc.

◆ CreateGravityForce()

RvizRobotBuilder::Marker xpp::RvizRobotBuilder::CreateGravityForce ( const Vector3d & base_pos ) const

private

Definition at line 157 of file rviz_robot_builder.cc.

◆ CreatePendulum()

RvizRobotBuilder::Marker xpp::RvizRobotBuilder::CreatePendulum	(	const Vector3d &	base_pos,
		const EEForces &	f_W,
		const EEPos &	pos_W
	)		const

private

Definition at line 289 of file rviz_robot_builder.cc.

◆ CreateRangeOfMotion()

RvizRobotBuilder::MarkerVec xpp::RvizRobotBuilder::CreateRangeOfMotion ( const State3d & base ) const

private

Definition at line 317 of file rviz_robot_builder.cc.

◆ CreateSphere()

RvizRobotBuilder::Marker xpp::RvizRobotBuilder::CreateSphere	(	const Vector3d &	pos,
		double	diameter = `0.03`
	)		const

private

Definition at line 352 of file rviz_robot_builder.cc.

◆ CreateSupportArea()

RvizRobotBuilder::MarkerVec xpp::RvizRobotBuilder::CreateSupportArea	(	const ContactState &	c,
		const EEPos &	pos_W
	)		const

private

Definition at line 388 of file rviz_robot_builder.cc.

◆ FillWithInvisible()

void xpp::RvizRobotBuilder::FillWithInvisible	(	int	max_size,
		MarkerVec &	vec
	)		const

private

Makes sure no artifacts remain from previous visualization.

Parameters

max_size	Number of marker for this rviz vector, should be constant.
vec	The vector of rviz markers.

Definition at line 82 of file rviz_robot_builder.cc.

◆ SetRobotParameters()

void xpp::RvizRobotBuilder::SetRobotParameters ( const xpp_msgs::RobotParameters & msg )

Provides additional robot info that can be used for visualization.

Parameters

msg	The ROS message.

This additional information includes such values as the robots mass (for gravity force visualization), the robots nominal endeffector configuration, etc (see OptParameters).

Definition at line 70 of file rviz_robot_builder.cc.

◆ SetTerrainParameters()

void xpp::RvizRobotBuilder::SetTerrainParameters ( const xpp_msgs::TerrainInfo & msg )

Additional information that can be used for visualization.

Parameters

msg	The ROS message.

This information is related to the terrain, such as the current terrain normals at the endeffectors and friction coefficient (for friction cone visualization).

Definition at line 76 of file rviz_robot_builder.cc.

Member Data Documentation

◆ frame_id_

const std::string xpp::RvizRobotBuilder::frame_id_ = "world"

private

Definition at line 194 of file rviz_robot_builder.h.

◆ max_ee_

const static int xpp::RvizRobotBuilder::max_ee_ = 10

staticprivate

Definition at line 202 of file rviz_robot_builder.h.

◆ params_msg_

xpp_msgs::RobotParameters xpp::RvizRobotBuilder::params_msg_

private

Definition at line 191 of file rviz_robot_builder.h.

◆ terrain_msg_

xpp_msgs::TerrainInfo xpp::RvizRobotBuilder::terrain_msg_

private

Definition at line 192 of file rviz_robot_builder.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ ContactState

◆ EEForces

◆ EEPos

◆ Marker

◆ MarkerArray

◆ MarkerVec

◆ RobotState

◆ TerrainNormals

Constructor & Destructor Documentation

◆ RvizRobotBuilder()

◆ ~RvizRobotBuilder()

Member Function Documentation

◆ BuildRobotState()

◆ CreateBasePose()

◆ CreateBox()

◆ CreateCopPos()

◆ CreateEEForces()

◆ CreateEEPositions()

◆ CreateForceArrow()

◆ CreateFrictionCone()

◆ CreateFrictionCones()

◆ CreateGravityForce()

◆ CreatePendulum()

◆ CreateRangeOfMotion()

◆ CreateSphere()

◆ CreateSupportArea()

◆ FillWithInvisible()

◆ SetRobotParameters()

◆ SetTerrainParameters()

Member Data Documentation

◆ frame_id_

◆ max_ee_

◆ params_msg_

◆ terrain_msg_