#include <urdf_renderer.h>
Public Member Functions | |
void | render () |
loops over all renderables and renders them to canvas | |
URDFRenderer (std::string model_description, std::string tf_prefix, std::string cam_frame, std::string fixed_frame, tf::TransformListener &tf) | |
Protected Member Functions | |
void | initURDFModel () |
Loads URDF model from the parameter server and parses it. call loadURDFModel. | |
void | loadURDFModel (urdf::Model &descr) |
load URDF model description from string and create search operations data structures | |
void | process_link (boost::shared_ptr< urdf::Link > link) |
Processes a single URDF link, creates renderable for it. | |
void | update_link_transforms () |
loops over all renderables and updates its transforms from TF | |
Protected Attributes | |
std::string | camera_frame_ |
std::string | fixed_frame_ |
std::string | model_description_ |
std::vector< boost::shared_ptr < Renderable > > | renderables_ |
tf::TransformListener & | tf_ |
std::string | tf_prefix_ |
Definition at line 44 of file urdf_renderer.h.
realtime_urdf_filter::URDFRenderer::URDFRenderer | ( | std::string | model_description, |
std::string | tf_prefix, | ||
std::string | cam_frame, | ||
std::string | fixed_frame, | ||
tf::TransformListener & | tf | ||
) |
Definition at line 44 of file urdf_renderer.cpp.
void realtime_urdf_filter::URDFRenderer::initURDFModel | ( | ) | [protected] |
Loads URDF model from the parameter server and parses it. call loadURDFModel.
Definition at line 62 of file urdf_renderer.cpp.
void realtime_urdf_filter::URDFRenderer::loadURDFModel | ( | urdf::Model & | model | ) | [protected] |
load URDF model description from string and create search operations data structures
/////////////////////////////////////////////////////////////////////////////
Definition at line 80 of file urdf_renderer.cpp.
void realtime_urdf_filter::URDFRenderer::process_link | ( | boost::shared_ptr< urdf::Link > | link | ) | [protected] |
Processes a single URDF link, creates renderable for it.
Definition at line 95 of file urdf_renderer.cpp.
loops over all renderables and renders them to canvas
Definition at line 159 of file urdf_renderer.cpp.
void realtime_urdf_filter::URDFRenderer::update_link_transforms | ( | ) | [protected] |
loops over all renderables and updates its transforms from TF
Definition at line 138 of file urdf_renderer.cpp.
Definition at line 61 of file urdf_renderer.h.
Definition at line 62 of file urdf_renderer.h.
Definition at line 57 of file urdf_renderer.h.
std::vector<boost::shared_ptr<Renderable> > realtime_urdf_filter::URDFRenderer::renderables_ [protected] |
Definition at line 65 of file urdf_renderer.h.
Definition at line 66 of file urdf_renderer.h.
Definition at line 58 of file urdf_renderer.h.