Uses a robot xml description to display the pieces of a robot at the transforms broadcast by rosTF. More...
#include <robot_model_display.h>
Public Member Functions | |
| void | clear () |
| virtual void | createProperties () |
| Called from setPropertyManager, gives the display a chance to create some properties immediately. | |
| virtual void | fixedFrameChanged () |
| Called from within setFixedFrame, notifying child classes that the fixed frame has changed. | |
| float | getAlpha () |
| const std::string & | getRobotDescription () |
| const std::string & | getTFPrefix () |
| float | getUpdateRate () |
| bool | isCollisionVisible () |
| bool | isVisualVisible () |
| virtual void | reset () |
| Called to tell the display to clear its state. | |
| RobotModelDisplay (const std::string &name, VisualizationManager *manager) | |
| void | setAlpha (float alpha) |
| void | setCollisionVisible (bool visible) |
| Set whether the collision representation should be displayed. | |
| void | setRobotDescription (const std::string &description_param) |
| Set the robot description parameter. | |
| void | setTFPrefix (const std::string &prefix) |
| void | setUpdateRate (float rate) |
| Set the rate at which we request new transforms from libTF. | |
| void | setVisualVisible (bool visible) |
| Set whether the visual mesh representation should be displayed. | |
| virtual void | targetFrameChanged () |
| Called from within setTargetFrame, notifying child classes that the target frame has changed. | |
| virtual void | update (float wall_dt, float ros_dt) |
| Called periodically by the visualization panel. | |
| virtual | ~RobotModelDisplay () |
Protected Member Functions | |
| void | load () |
| Loads a URDF from our description_param_, iterates through the links and loads any necessary models. | |
| virtual void | onDisable () |
| Derived classes override this to do the actual work of disabling themselves. | |
| virtual void | onEnable () |
| Derived classes override this to do the actual work of enabling themselves. | |
Protected Attributes | |
| float | alpha_ |
| FloatPropertyWPtr | alpha_property_ |
| BoolPropertyWPtr | collision_enabled_property_ |
| std::string | description_param_ |
| ROS parameter that contains the robot xml description. | |
| bool | has_new_transforms_ |
| Callback sets this to tell our update function it needs to update the transforms. | |
| Robot * | robot_ |
| Handles actually drawing the robot. | |
| std::string | robot_description_ |
| StringPropertyWPtr | robot_description_property_ |
| std::string | tf_prefix_ |
| StringPropertyWPtr | tf_prefix_property_ |
| float | time_since_last_transform_ |
| float | update_rate_ |
| FloatPropertyWPtr | update_rate_property_ |
| BoolPropertyWPtr | visual_enabled_property_ |
Uses a robot xml description to display the pieces of a robot at the transforms broadcast by rosTF.
Definition at line 60 of file robot_model_display.h.
| rviz::RobotModelDisplay::RobotModelDisplay | ( | const std::string & | name, | |
| VisualizationManager * | manager | |||
| ) |
Definition at line 46 of file robot_model_display.cpp.
| rviz::RobotModelDisplay::~RobotModelDisplay | ( | ) | [virtual] |
Definition at line 61 of file robot_model_display.cpp.
| void rviz::RobotModelDisplay::clear | ( | ) |
Definition at line 257 of file robot_model_display.cpp.
| void rviz::RobotModelDisplay::createProperties | ( | ) | [virtual] |
Called from setPropertyManager, gives the display a chance to create some properties immediately.
Once this function is called, the property_manager_ member is valid and will stay valid
Reimplemented from rviz::Display.
Definition at line 224 of file robot_model_display.cpp.
| virtual void rviz::RobotModelDisplay::fixedFrameChanged | ( | ) | [inline, virtual] |
Called from within setFixedFrame, notifying child classes that the fixed frame has changed.
Implements rviz::Display.
Definition at line 107 of file robot_model_display.h.
| float rviz::RobotModelDisplay::getAlpha | ( | ) | [inline] |
Definition at line 97 of file robot_model_display.h.
| const std::string& rviz::RobotModelDisplay::getRobotDescription | ( | ) | [inline] |
Definition at line 92 of file robot_model_display.h.
| const std::string& rviz::RobotModelDisplay::getTFPrefix | ( | ) | [inline] |
Definition at line 100 of file robot_model_display.h.
| float rviz::RobotModelDisplay::getUpdateRate | ( | ) | [inline] |
Definition at line 93 of file robot_model_display.h.
| bool rviz::RobotModelDisplay::isCollisionVisible | ( | ) |
Definition at line 129 of file robot_model_display.cpp.
| bool rviz::RobotModelDisplay::isVisualVisible | ( | ) |
Definition at line 124 of file robot_model_display.cpp.
| void rviz::RobotModelDisplay::load | ( | ) | [protected] |
Loads a URDF from our description_param_, iterates through the links and loads any necessary models.
Definition at line 134 of file robot_model_display.cpp.
| void rviz::RobotModelDisplay::onDisable | ( | ) | [protected, virtual] |
Derived classes override this to do the actual work of disabling themselves.
Implements rviz::Display.
Definition at line 197 of file robot_model_display.cpp.
| void rviz::RobotModelDisplay::onEnable | ( | ) | [protected, virtual] |
Derived classes override this to do the actual work of enabling themselves.
Implements rviz::Display.
Definition at line 191 of file robot_model_display.cpp.
| void rviz::RobotModelDisplay::reset | ( | ) | [virtual] |
Called to tell the display to clear its state.
Reimplemented from rviz::Display.
Definition at line 264 of file robot_model_display.cpp.
| void rviz::RobotModelDisplay::setAlpha | ( | float | alpha | ) |
Definition at line 66 of file robot_model_display.cpp.
| void rviz::RobotModelDisplay::setCollisionVisible | ( | bool | visible | ) |
Set whether the collision representation should be displayed.
| visible |
Definition at line 97 of file robot_model_display.cpp.
| void rviz::RobotModelDisplay::setRobotDescription | ( | const std::string & | description_param | ) |
Set the robot description parameter.
| description_param | The ROS parameter name which contains the robot xml description |
Definition at line 75 of file robot_model_display.cpp.
| void rviz::RobotModelDisplay::setTFPrefix | ( | const std::string & | prefix | ) |
Definition at line 115 of file robot_model_display.cpp.
| void rviz::RobotModelDisplay::setUpdateRate | ( | float | rate | ) |
Set the rate at which we request new transforms from libTF.
| rate | The rate, in seconds |
Definition at line 106 of file robot_model_display.cpp.
| void rviz::RobotModelDisplay::setVisualVisible | ( | bool | visible | ) |
Set whether the visual mesh representation should be displayed.
| visible |
Definition at line 88 of file robot_model_display.cpp.
| void rviz::RobotModelDisplay::targetFrameChanged | ( | ) | [virtual] |
Called from within setTargetFrame, notifying child classes that the target frame has changed.
Implements rviz::Display.
Definition at line 219 of file robot_model_display.cpp.
| void rviz::RobotModelDisplay::update | ( | float | wall_dt, | |
| float | ros_dt | |||
| ) | [virtual] |
Called periodically by the visualization panel.
| dt | Wall-clock time, in seconds, since the last time the update list was run through. |
Reimplemented from rviz::Display.
Definition at line 203 of file robot_model_display.cpp.
float rviz::RobotModelDisplay::alpha_ [protected] |
Definition at line 130 of file robot_model_display.h.
FloatPropertyWPtr rviz::RobotModelDisplay::alpha_property_ [protected] |
Definition at line 137 of file robot_model_display.h.
BoolPropertyWPtr rviz::RobotModelDisplay::collision_enabled_property_ [protected] |
Definition at line 134 of file robot_model_display.h.
std::string rviz::RobotModelDisplay::description_param_ [protected] |
ROS parameter that contains the robot xml description.
Definition at line 122 of file robot_model_display.h.
bool rviz::RobotModelDisplay::has_new_transforms_ [protected] |
Callback sets this to tell our update function it needs to update the transforms.
Definition at line 126 of file robot_model_display.h.
Robot* rviz::RobotModelDisplay::robot_ [protected] |
Handles actually drawing the robot.
Definition at line 124 of file robot_model_display.h.
std::string rviz::RobotModelDisplay::robot_description_ [protected] |
Definition at line 140 of file robot_model_display.h.
StringPropertyWPtr rviz::RobotModelDisplay::robot_description_property_ [protected] |
Definition at line 136 of file robot_model_display.h.
std::string rviz::RobotModelDisplay::tf_prefix_ [protected] |
Definition at line 131 of file robot_model_display.h.
StringPropertyWPtr rviz::RobotModelDisplay::tf_prefix_property_ [protected] |
Definition at line 138 of file robot_model_display.h.
float rviz::RobotModelDisplay::time_since_last_transform_ [protected] |
Definition at line 128 of file robot_model_display.h.
float rviz::RobotModelDisplay::update_rate_ [protected] |
Definition at line 129 of file robot_model_display.h.
FloatPropertyWPtr rviz::RobotModelDisplay::update_rate_property_ [protected] |
Definition at line 135 of file robot_model_display.h.
BoolPropertyWPtr rviz::RobotModelDisplay::visual_enabled_property_ [protected] |
Definition at line 133 of file robot_model_display.h.
