articulation_rviz_plugin::ModelDisplay Class Reference

#include <articulation_model_display.h>

Public Types
enum	ColorStyle { cs_fixed, cs_channel, cs_hue, cs_brightness, ColorStyleCount }
enum	DisplayStyle { ds_line, ds_cross_line, ds_cross, ds_arrow, ds_axes, ds_rectangle, ds_none, DisplayStyleCount }
enum	UniqueStyle { u_all, u_single, u_track, u_model, u_modelstored, u_modeltype }
Public Member Functions
virtual void	createProperties ()
virtual void	fixedFrameChanged ()
float	getAlpha ()
const rviz::Color &	getColor ()
int	getDisplayStyle ()
int	getForceColor ()
float	getForceScaling ()
int	getLikelihoodColor ()
float	getLineWidth ()
int	getModelColor ()
int	getModelTypeColor ()
int	getPoseColor ()
bool	getProjectConfigurations ()
bool	getSampleConfigurations ()
float	getSampleDensity ()
bool	getShowForces ()
bool	getShowHessians ()
bool	getShowJacobians ()
bool	getShowLatestOnly ()
bool	getShowModelName ()
const std::string &	getTopic ()
int	getTrackColor ()
int	getUnique ()
	ModelDisplay (const std::string &name, rviz::VisualizationManager *manager)
virtual void	onDisable ()
virtual void	onEnable ()
virtual void	reset ()
void	setAlpha (float a)
void	setColor (const rviz::Color &color)
void	setDisplayStyle (int ds)
void	setForceColor (int cs)
void	setForceScaling (float a)
void	setLikelihoodColor (int cs)
void	setLineWidth (float a)
void	setModelColor (int cs)
void	setModelTypeColor (int cs)
void	setPoseColor (int cs)
void	setProjectConfigurations (bool sc)
void	setSampleConfigurations (bool sc)
void	setSampleDensity (float a)
void	setShowForces (bool sc)
void	setShowHessians (bool sc)
void	setShowJacobians (bool sc)
void	setShowLatestOnly (bool sc)
void	setShowModelName (bool sc)
void	setTopic (const std::string &topic)
void	setTrackColor (int cs)
void	setUnique (int cs)
virtual void	targetFrameChanged ()
virtual void	update (float wall_dt, float ros_dt)
virtual	~ModelDisplay ()
Public Attributes
float	alpha_
rviz::FloatPropertyWPtr	alpha_property_
rviz::Color	color_
rviz::ColorPropertyWPtr	color_property_
int	displayStyle_
rviz::EnumPropertyWPtr	displayStyle_property_
articulation_models::MultiModelFactory	factory
int	forceColor_
rviz::EnumPropertyWPtr	forceColor_property_
float	forceScaling_
rviz::FloatPropertyWPtr	forceScaling_property_
int	likelihoodColor_
rviz::EnumPropertyWPtr	likelihoodColor_property_
float	lineWidth_
rviz::FloatPropertyWPtr	lineWidth_property_
std::string	model_topic_
int	modelColor_
rviz::EnumPropertyWPtr	modelColor_property_
int	modelTypeColor_
rviz::EnumPropertyWPtr	modelTypeColor_property_
int	poseColor_
rviz::EnumPropertyWPtr	poseColor_property_
bool	projectConfigurations_
rviz::BoolPropertyWPtr	projectConfigurations_property_
bool	sampleConfigurations_
rviz::BoolPropertyWPtr	sampleConfigurations_property_
float	sampleDensity_
rviz::FloatPropertyWPtr	sampleDensity_property_
bool	showForces_
rviz::BoolPropertyWPtr	showForces_property_
bool	showHessians_
rviz::BoolPropertyWPtr	showHessians_property_
bool	showJacobians_
rviz::BoolPropertyWPtr	showJacobians_property_
bool	showLatestOnly_
rviz::BoolPropertyWPtr	showLatestOnly_property_
bool	showModelName_
rviz::BoolPropertyWPtr	showModelName_property_
rviz::ROSTopicStringPropertyWPtr	topic_property_
int	trackColor_
rviz::EnumPropertyWPtr	trackColor_property_
int	unique_
rviz::EnumPropertyWPtr	unique_property_
Protected Types
typedef std::vector < articulation_msgs::ModelMsg::ConstPtr >	V_ModelMsg
Protected Member Functions
void	clearDisplay ()
void	clearMap ()
void	clearResources (int uniqueId)
void	clearVector (std::vector< ogre_tools::MovableText * > &vec)
void	clearVector (std::vector< ogre_tools::Arrow * > &vec)
void	clearVector (std::vector< ogre_tools::BillboardLine * > &vec)
void	createArrow (Ogre::Vector3 pos, Ogre::Vector3 old_pos, Ogre::Vector3 scale, btVector3 color, std::vector< ogre_tools::Arrow * > &vec)
void	createAxes (Ogre::Vector3 pos, Ogre::Quaternion orient, Ogre::Vector3 scale, btVector3 color, std::vector< ogre_tools::BillboardLine * > &vec)
void	createLine (Ogre::Vector3 pos, Ogre::Vector3 old_pos, Ogre::Vector3 scale, btVector3 color, std::vector< ogre_tools::BillboardLine * > &vec, bool add_cross, bool with_line)
void	createRectangle (Ogre::Vector3 pos, Ogre::Quaternion orient, Ogre::Vector3 scale, double w, double h, btVector3 color, std::vector< ogre_tools::BillboardLine * > &vec)
void	createText (Ogre::Vector3 pos, Ogre::Quaternion orient, Ogre::Vector3 scale, btVector3 color, std::string title, std::vector< ogre_tools::MovableText * > &vec)
void	incomingModel (const articulation_msgs::ModelMsg::ConstPtr &msg)
btVector3	modifyColor (btVector3 color, int colorStyle, float f)
ogre_tools::Arrow *	newArrow ()
ogre_tools::BillboardLine *	newBillboardLine ()
ogre_tools::MovableText *	newText ()
void	subscribe ()
bool	transform (const btTransform &pose, const btVector3 &scaleIn, Ogre::Vector3 &pos, Ogre::Quaternion &orient, Ogre::Vector3 &scaleOut)
bool	transform (const articulation_msgs::ModelMsg::ConstPtr &message, btTransform &transform)
void	unsubscribe ()
Protected Attributes
std::map< int, std::vector < ogre_tools::Arrow * > >	arrows
articulation_msgs::ModelMsg::ConstPtr	incoming_model_message_
std::map< int, std::vector < ogre_tools::BillboardLine * > >	lines
V_ModelMsg	message_queue_
boost::mutex	queue_mutex_
std::vector< ogre_tools::Arrow * >	recycleArrows
std::vector < ogre_tools::BillboardLine * >	recycleLines
std::vector < ogre_tools::MovableText * >	recycleText
Ogre::SceneNode *	scene_node_
	Scene node all the marker objects are parented to.
message_filters::Subscriber < articulation_msgs::ModelMsg >	sub_
std::map< int, std::vector < ogre_tools::MovableText * > >	text
tf::MessageFilter < articulation_msgs::ModelMsg >	tf_filter_

Detailed Description

Definition at line 34 of file articulation_model_display.h.

Member Typedef Documentation

typedef std::vector<articulation_msgs::ModelMsg::ConstPtr> articulation_rviz_plugin::ModelDisplay::V_ModelMsg [protected]

Definition at line 214 of file articulation_model_display.h.

Member Enumeration Documentation

enum articulation_rviz_plugin::ModelDisplay::ColorStyle

Enumerator:

cs_fixed
cs_channel
cs_hue
cs_brightness
ColorStyleCount

Definition at line 80 of file articulation_model_display.h.

enum articulation_rviz_plugin::ModelDisplay::DisplayStyle

Enumerator:

ds_line
ds_cross_line
ds_cross
ds_arrow
ds_axes
ds_rectangle
ds_none
DisplayStyleCount

Definition at line 119 of file articulation_model_display.h.

enum articulation_rviz_plugin::ModelDisplay::UniqueStyle

Enumerator:

u_all
u_single
u_track
u_model
u_modelstored
u_modeltype

Definition at line 50 of file articulation_model_display.h.

Constructor & Destructor Documentation

articulation_rviz_plugin::ModelDisplay::ModelDisplay	(	const std::string &	name,
		rviz::VisualizationManager *	manager
	)

Definition at line 21 of file articulation_model_display.cpp.

articulation_rviz_plugin::ModelDisplay::~ModelDisplay ( ) [virtual]

Definition at line 37 of file articulation_model_display.cpp.

Member Function Documentation

void articulation_rviz_plugin::ModelDisplay::clearDisplay ( ) [protected]

Definition at line 651 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::clearMap ( ) [protected]

Definition at line 42 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::clearResources ( int uniqueId ) [protected]

Definition at line 125 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::clearVector ( std::vector< ogre_tools::MovableText * > & vec ) [protected]

Definition at line 71 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::clearVector ( std::vector< ogre_tools::Arrow * > & vec ) [protected]

Definition at line 64 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::clearVector ( std::vector< ogre_tools::BillboardLine * > & vec ) [protected]

Definition at line 57 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::createArrow	(	Ogre::Vector3	pos,
		Ogre::Vector3	old_pos,
		Ogre::Vector3	scale,
		btVector3	color,
		std::vector< ogre_tools::Arrow * > &	vec
	)			`[protected]`

Definition at line 857 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::createAxes	(	Ogre::Vector3	pos,
		Ogre::Quaternion	orient,
		Ogre::Vector3	scale,
		btVector3	color,
		std::vector< ogre_tools::BillboardLine * > &	vec
	)			`[protected]`

Definition at line 774 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::createLine	(	Ogre::Vector3	pos,
		Ogre::Vector3	old_pos,
		Ogre::Vector3	scale,
		btVector3	color,
		std::vector< ogre_tools::BillboardLine * > &	vec,
		bool	add_cross,
		bool	with_line
	)			`[protected]`

Definition at line 811 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::createProperties ( ) [virtual]

Definition at line 474 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::createRectangle	(	Ogre::Vector3	pos,
		Ogre::Quaternion	orient,
		Ogre::Vector3	scale,
		double	w,
		double	h,
		btVector3	color,
		std::vector< ogre_tools::BillboardLine * > &	vec
	)			`[protected]`

Definition at line 737 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::createText	(	Ogre::Vector3	pos,
		Ogre::Quaternion	orient,
		Ogre::Vector3	scale,
		btVector3	color,
		std::string	title,
		std::vector< ogre_tools::MovableText * > &	vec
	)			`[protected]`

Definition at line 880 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::fixedFrameChanged ( ) [virtual]

Definition at line 468 of file articulation_model_display.cpp.

float articulation_rviz_plugin::ModelDisplay::getAlpha ( ) [inline]

Definition at line 72 of file articulation_model_display.h.

const rviz::Color& articulation_rviz_plugin::ModelDisplay::getColor ( ) [inline]

Definition at line 67 of file articulation_model_display.h.

int articulation_rviz_plugin::ModelDisplay::getDisplayStyle ( ) [inline]

Definition at line 133 of file articulation_model_display.h.

int articulation_rviz_plugin::ModelDisplay::getForceColor ( ) [inline]

Definition at line 116 of file articulation_model_display.h.

float articulation_rviz_plugin::ModelDisplay::getForceScaling ( ) [inline]

Definition at line 178 of file articulation_model_display.h.

int articulation_rviz_plugin::ModelDisplay::getLikelihoodColor ( ) [inline]

Definition at line 111 of file articulation_model_display.h.

float articulation_rviz_plugin::ModelDisplay::getLineWidth ( ) [inline]

Definition at line 77 of file articulation_model_display.h.

int articulation_rviz_plugin::ModelDisplay::getModelColor ( ) [inline]

Definition at line 96 of file articulation_model_display.h.

int articulation_rviz_plugin::ModelDisplay::getModelTypeColor ( ) [inline]

Definition at line 106 of file articulation_model_display.h.

int articulation_rviz_plugin::ModelDisplay::getPoseColor ( ) [inline]

Definition at line 101 of file articulation_model_display.h.

bool articulation_rviz_plugin::ModelDisplay::getProjectConfigurations ( ) [inline]

Definition at line 143 of file articulation_model_display.h.

bool articulation_rviz_plugin::ModelDisplay::getSampleConfigurations ( ) [inline]

Definition at line 138 of file articulation_model_display.h.

float articulation_rviz_plugin::ModelDisplay::getSampleDensity ( ) [inline]

Definition at line 163 of file articulation_model_display.h.

bool articulation_rviz_plugin::ModelDisplay::getShowForces ( ) [inline]

Definition at line 173 of file articulation_model_display.h.

bool articulation_rviz_plugin::ModelDisplay::getShowHessians ( ) [inline]

Definition at line 153 of file articulation_model_display.h.

bool articulation_rviz_plugin::ModelDisplay::getShowJacobians ( ) [inline]

Definition at line 148 of file articulation_model_display.h.

bool articulation_rviz_plugin::ModelDisplay::getShowLatestOnly ( ) [inline]

Definition at line 158 of file articulation_model_display.h.

bool articulation_rviz_plugin::ModelDisplay::getShowModelName ( ) [inline]

Definition at line 168 of file articulation_model_display.h.

const std::string& articulation_rviz_plugin::ModelDisplay::getTopic ( ) [inline]

Definition at line 47 of file articulation_model_display.h.

int articulation_rviz_plugin::ModelDisplay::getTrackColor ( ) [inline]

Definition at line 91 of file articulation_model_display.h.

int articulation_rviz_plugin::ModelDisplay::getUnique ( ) [inline]

Definition at line 62 of file articulation_model_display.h.

void articulation_rviz_plugin::ModelDisplay::incomingModel ( const articulation_msgs::ModelMsg::ConstPtr & msg ) [protected]

Definition at line 117 of file articulation_model_display.cpp.

btVector3 articulation_rviz_plugin::ModelDisplay::modifyColor	(	btVector3	color,
		int	colorStyle,
		float	f
	)			`[protected]`

Definition at line 957 of file articulation_model_display.cpp.

ogre_tools::Arrow * articulation_rviz_plugin::ModelDisplay::newArrow ( ) [protected]

Definition at line 711 of file articulation_model_display.cpp.

ogre_tools::BillboardLine * articulation_rviz_plugin::ModelDisplay::newBillboardLine ( ) [protected]

Definition at line 701 of file articulation_model_display.cpp.

ogre_tools::MovableText * articulation_rviz_plugin::ModelDisplay::newText ( ) [protected]

Definition at line 721 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::onDisable ( ) [virtual]

Definition at line 92 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::onEnable ( ) [virtual]

Definition at line 86 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::reset ( ) [virtual]

Definition at line 98 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setAlpha ( float a )

Definition at line 903 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setColor ( const rviz::Color & color )

Definition at line 897 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setDisplayStyle ( int ds )

Definition at line 980 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setForceColor ( int cs )

Definition at line 951 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setForceScaling ( float a )

Definition at line 1041 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setLikelihoodColor ( int cs )

Definition at line 945 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setLineWidth ( float a )

Definition at line 909 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setModelColor ( int cs )

Definition at line 927 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setModelTypeColor ( int cs )

Definition at line 939 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setPoseColor ( int cs )

Definition at line 933 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setProjectConfigurations ( bool sc )

Definition at line 996 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setSampleConfigurations ( bool sc )

Definition at line 986 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setSampleDensity ( float a )

Definition at line 1023 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setShowForces ( bool sc )

Definition at line 1035 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setShowHessians ( bool sc )

Definition at line 1011 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setShowJacobians ( bool sc )

Definition at line 1005 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setShowLatestOnly ( bool sc )

Definition at line 1017 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setShowModelName ( bool sc )

Definition at line 1029 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setTopic ( const std::string & topic )

Definition at line 78 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setTrackColor ( int cs )

Definition at line 915 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::setUnique ( int cs )

Definition at line 921 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::subscribe ( ) [protected]

Definition at line 102 of file articulation_model_display.cpp.

void articulation_rviz_plugin::ModelDisplay::targetFrameChanged ( ) [virtual]

Definition at line 465 of file articulation_model_display.cpp.

bool articulation_rviz_plugin::ModelDisplay::transform	(	const btTransform &	pose,
		const btVector3 &	scaleIn,
		Ogre::Vector3 &	pos,
		Ogre::Quaternion &	orient,
		Ogre::Vector3 &	scaleOut
	)			`[protected]`