Abstract base class for all displays. More...

#include <display.h>

Inheritance diagram for rviz::Display:

Signals
void	stateChanged (Display *)
	Emitted when this display goes from enabled to disabled or vice-versa.
Public Member Functions
void	clearStatuses ()
	Delete all status children.
virtual void	createProperties ()
	Called from setPropertyManager, gives the display a chance to create some properties immediately.
void	deleteStatus (const std::string &name)
	Delete a status child.
void	disable (bool force=false)
	Disable this display.
	Display ()
void	enable (bool force=false)
	Enable this display.
virtual void	fixedFrameChanged ()
	Override to handle changes to fixed_frame_. This base class implementation does nothing.
const std::string &	getName () const
StatusLevel	getStatus ()
	Return the current top-level StatusLevel.
virtual void	hideVisible ()
	Hides all visible parts of this display, so they do not show up when the scene is rendered.
void	initialize (const std::string &name, VisualizationManager *manager)
	Main initialization, called right after constructor.
bool	isEnabled ()
virtual void	onInitialize ()
	Override this function to do subclass-specific initialization.
virtual void	reset ()
	Called to tell the display to clear its state.
virtual void	restoreVisible ()
	Restores the display to the state it was in before hideVisible() was called.
void	setEnabled (bool enable, bool force=false)
	Call enable() or disable().
void	setFixedFrame (const std::string &frame)
	Set the fixed frame of this display. This is a frame id which should generally be the top-level frame being broadcast through TF.
void	setLockRenderCallback (boost::function< void()> func)
	Set the callback used to lock the renderer.
void	setName (const std::string &name)
void	setPropertyManager (PropertyManager *manager, const CategoryPropertyWPtr &parent)
	Sets the property manager and parent category for this display.
void	setRenderCallback (boost::function< void()> func)
	Set the callback used for causing a render to happen.
void	setStatus (StatusLevel level, const std::string &name, const std::string &text)
	Show status level and text.
void	setUnlockRenderCallback (boost::function< void()> func)
	Set the callback used to unlock the renderer.
virtual void	update (float wall_dt, float ros_dt)
	Called periodically by the visualization panel.
virtual	~Display ()
Protected Member Functions
void	causeRender ()
	Cause the scene we're in to be rendered.
void	lockRender ()
	Lock the renderer.
virtual void	onDisable ()=0
	Derived classes override this to do the actual work of disabling themselves.
virtual void	onEnable ()=0
	Derived classes override this to do the actual work of enabling themselves.
void	unlockRender ()
	Unlock the renderer.
Protected Attributes
bool	enabled_
	Are we enabled?
std::string	fixed_frame_
	The frame we should transform all fixed data into.
std::string	name_
	The name of this display.
CategoryPropertyWPtr	parent_category_
	The parent category to use when creating properties.
PropertyManager *	property_manager_
	The property manager to use to create properties.
std::string	property_prefix_
	Prefix to prepend to our properties.
boost::function< void()>	render_callback_
	Render callback.
boost::function< void()>	render_lock_
	Render lock callback.
boost::function< void()>	render_unlock_
	Render unlock callback.
Ogre::SceneManager *	scene_manager_
	The scene manager we're associated with.
StatusLevel	status_
StatusPropertyWPtr	status_property_
ros::NodeHandle	threaded_nh_
ros::NodeHandle	update_nh_
VisualizationManager *	vis_manager_
Friends
class	RenderAutoLock

Detailed Description

Abstract base class for all displays.

Generally, a Display is something which listens for data on some ROS topic and displays it in a 3D scene. Displays do not have to do either though. The GridDisplay displays a grid attached to a TF frame, but doesn't subscribe to any topic itself. The Image display subscribes to an image topic but displays in a 2D window, not a 3D scene.

One thing every display gets is a top-level entry in the "Displays" panel, with a checkbox to enable or disable it. When the checkbox changes state, the virtual onEnable() or onDisable() function is called.

Definition at line 74 of file display.h.

Constructor & Destructor Documentation

rviz::Display::Display ( )

Definition at line 38 of file display.cpp.

rviz::Display::~Display ( ) [virtual]

Definition at line 47 of file display.cpp.

Member Function Documentation

void rviz::Display::causeRender ( ) [protected]

Cause the scene we're in to be rendered.

Note:: This does not immediately cause a render -- instead, one is queued and happens next run through the event loop.

Definition at line 139 of file display.cpp.

void rviz::Display::clearStatuses ( )

Delete all status children.

This removes all status children and updates the top-level status.

Definition at line 205 of file display.cpp.

virtual void rviz::Display::createProperties ( ) [inline, virtual]

Called from setPropertyManager, gives the display a chance to create some properties immediately.

When this function is called, the property_manager_ member is valid and will stay valid

Reimplemented in rviz::PointCloudBase, rviz::PoseDisplay, rviz::RobotModelDisplay, rviz::TFDisplay, rviz::GridDisplay, rviz::CameraDisplay, rviz::InteractiveMarkerDisplay, rviz::OdometryDisplay, rviz::MarkerDisplay, rviz::MapDisplay, rviz::RangeDisplay, rviz::GridCellsDisplay, rviz::PathDisplay, rviz::PolygonDisplay, rviz::PoseArrayDisplay, rviz::ImageDisplay, rviz::AxesDisplay, rviz::LaserScanDisplay, rviz::PointCloud2Display, rviz::PointCloudDisplay, and rviz::MarkerArrayDisplay.

Definition at line 138 of file display.h.

void rviz::Display::deleteStatus ( const std::string & name )

Delete a status child.

Parameters:

name	The name of the status child entry to remove. This updates the top-level status after deleting the child.

Definition at line 190 of file display.cpp.

void rviz::Display::disable ( bool force = false )

Disable this display.

Parameters:

force If false, does not re-disable if this display is already disabled. If true, it does.

Definition at line 92 of file display.cpp.

void rviz::Display::enable ( bool force = false )

Enable this display.

Parameters:

force If false, does not re-enable if this display is already enabled. If true, it does.

Definition at line 73 of file display.cpp.

virtual void rviz::Display::fixedFrameChanged ( ) [inline, virtual]

Override to handle changes to fixed_frame_. This base class implementation does nothing.

Reimplemented in rviz::PointCloudBase, rviz::PoseDisplay, rviz::RobotModelDisplay, rviz::TFDisplay, rviz::CameraDisplay, rviz::OdometryDisplay, rviz::InteractiveMarkerDisplay, rviz::MapDisplay, rviz::MarkerDisplay, rviz::RangeDisplay, rviz::GridCellsDisplay, rviz::PathDisplay, rviz::PolygonDisplay, rviz::PoseArrayDisplay, rviz::LaserScanDisplay, rviz::PointCloud2Display, and rviz::PointCloudDisplay.

Definition at line 150 of file display.h.

const std::string& rviz::Display::getName ( void ) const [inline]

Definition at line 105 of file display.h.

StatusLevel rviz::Display::getStatus ( )

Return the current top-level StatusLevel.

Definition at line 170 of file display.cpp.

virtual void rviz::Display::hideVisible ( ) [inline, virtual]

Hides all visible parts of this display, so they do not show up when the scene is rendered.

Reimplemented in rviz::PointCloudBase, rviz::InteractiveMarkerDisplay, rviz::RobotModelDisplay, rviz::MarkerDisplay, rviz::GridCellsDisplay, and rviz::MapDisplay.

Definition at line 185 of file display.h.

void rviz::Display::initialize	(	const std::string &	name,
		VisualizationManager *	manager
	)

Main initialization, called right after constructor.

Definition at line 55 of file display.cpp.

bool rviz::Display::isEnabled ( ) [inline]

Definition at line 100 of file display.h.

void rviz::Display::lockRender ( ) [protected]

Lock the renderer.

Definition at line 147 of file display.cpp.

virtual void rviz::Display::onDisable ( ) [protected, pure virtual]

Derived classes override this to do the actual work of disabling themselves.

Implemented in rviz::PointCloudBase, rviz::InteractiveMarkerDisplay, rviz::PoseDisplay, rviz::RobotModelDisplay, rviz::TFDisplay, rviz::CameraDisplay, rviz::MarkerDisplay, rviz::OdometryDisplay, rviz::GridCellsDisplay, rviz::GridDisplay, rviz::RangeDisplay, rviz::MapDisplay, rviz::PathDisplay, rviz::PolygonDisplay, rviz::ImageDisplay, rviz::PoseArrayDisplay, rviz::LaserScanDisplay, rviz::PointCloud2Display, rviz::PointCloudDisplay, and rviz::AxesDisplay.

virtual void rviz::Display::onEnable ( ) [protected, pure virtual]

Derived classes override this to do the actual work of enabling themselves.

Implemented in rviz::PointCloudBase, rviz::InteractiveMarkerDisplay, rviz::PoseDisplay, rviz::RobotModelDisplay, rviz::TFDisplay, rviz::CameraDisplay, rviz::MarkerDisplay, rviz::OdometryDisplay, rviz::GridCellsDisplay, rviz::GridDisplay, rviz::RangeDisplay, rviz::MapDisplay, rviz::PathDisplay, rviz::PolygonDisplay, rviz::ImageDisplay, rviz::PoseArrayDisplay, rviz::LaserScanDisplay, rviz::PointCloud2Display, rviz::PointCloudDisplay, and rviz::AxesDisplay.

virtual void rviz::Display::onInitialize ( ) [inline, virtual]

Override this function to do subclass-specific initialization.

This is called after vis_manager_ and scene_manager_ are set.

Reimplemented in rviz::PointCloudBase, rviz::InteractiveMarkerDisplay, rviz::MarkerDisplay, rviz::PoseDisplay, rviz::TFDisplay, rviz::CameraDisplay, rviz::ImageDisplay, rviz::OdometryDisplay, rviz::GridCellsDisplay, rviz::LaserScanDisplay, rviz::PathDisplay, rviz::PolygonDisplay, rviz::PoseArrayDisplay, rviz::RangeDisplay, rviz::MapDisplay, rviz::PointCloud2Display, rviz::PointCloudDisplay, rviz::RobotModelDisplay, rviz::GridDisplay, and rviz::AxesDisplay.

Definition at line 87 of file display.h.

void rviz::Display::reset ( ) [virtual]

Called to tell the display to clear its state.

Reimplemented in rviz::PointCloudBase, rviz::PoseDisplay, rviz::RobotModelDisplay, rviz::TFDisplay, rviz::CameraDisplay, rviz::OdometryDisplay, rviz::InteractiveMarkerDisplay, rviz::MapDisplay, rviz::MarkerDisplay, rviz::RangeDisplay, rviz::GridCellsDisplay, rviz::PathDisplay, rviz::PolygonDisplay, rviz::PoseArrayDisplay, and rviz::ImageDisplay.

Definition at line 232 of file display.cpp.

virtual void rviz::Display::restoreVisible ( ) [inline, virtual]

Restores the display to the state it was in before hideVisible() was called.

Reimplemented in rviz::PointCloudBase, rviz::InteractiveMarkerDisplay, rviz::RobotModelDisplay, rviz::MarkerDisplay, rviz::GridCellsDisplay, and rviz::MapDisplay.

Definition at line 188 of file display.h.

void rviz::Display::setEnabled	(	bool	enable,
		bool	force = `false`
	)

Call enable() or disable().

Definition at line 111 of file display.cpp.

void rviz::Display::setFixedFrame ( const std::string & frame )

Set the fixed frame of this display. This is a frame id which should generally be the top-level frame being broadcast through TF.

Parameters:

frame The fixed frame

Definition at line 163 of file display.cpp.

void rviz::Display::setLockRenderCallback ( boost::function< void()> func )

Set the callback used to lock the renderer.

Definition at line 128 of file display.cpp.

void rviz::Display::setName ( const std::string & name )

Definition at line 67 of file display.cpp.

void rviz::Display::setPropertyManager	(	PropertyManager *	manager,
		const CategoryPropertyWPtr &	parent
	)

Sets the property manager and parent category for this display.

Parameters:

manager	The property manager
parent	The parent category

Definition at line 220 of file display.cpp.

void rviz::Display::setRenderCallback ( boost::function< void()> func )

Set the callback used for causing a render to happen.

Parameters:

func	a void(void) function that will cause a render to happen from the correct thread

Definition at line 123 of file display.cpp.

void rviz::Display::setStatus	(	StatusLevel	level,
		const std::string &	name,
		const std::string &	text
	)

Show status level and text.

Parameters:

level	One of status_levels::Ok, status_levels::Warn, or status_levels::Error.
name	The name of the child entry to set.
text	Description of the child's state.

Every Display has a StatusProperty to indicate how it is doing. The StatusProperty has children in the PropertyTreeWidget indicating the status of various subcomponents of the Display. Each child of the status has a level, a name, and descriptive text. The top-level StatusProperty has a level which is set to the worst of all the children's levels.

Definition at line 175 of file display.cpp.

void rviz::Display::setUnlockRenderCallback ( boost::function< void()> func )

Set the callback used to unlock the renderer.

Definition at line 133 of file display.cpp.

void rviz::Display::stateChanged ( Display * ) [signal]

Emitted when this display goes from enabled to disabled or vice-versa.

void rviz::Display::unlockRender ( ) [protected]

Unlock the renderer.

Definition at line 155 of file display.cpp.

virtual void rviz::Display::update	(	float	wall_dt,
		float	ros_dt
	)		`[inline, virtual]`

Called periodically by the visualization panel.

Parameters:

dt	Wall-clock time, in seconds, since the last time the update list was run through.

Reimplemented in rviz::PointCloudBase, rviz::PoseDisplay, rviz::TFDisplay, rviz::GridDisplay, rviz::CameraDisplay, rviz::OdometryDisplay, rviz::MapDisplay, rviz::InteractiveMarkerDisplay, rviz::RangeDisplay, rviz::GridCellsDisplay, rviz::MarkerDisplay, rviz::PathDisplay, rviz::PolygonDisplay, rviz::PoseArrayDisplay, rviz::ImageDisplay, rviz::AxesDisplay, and rviz::RobotModelDisplay.

Definition at line 112 of file display.h.

Friends And Related Function Documentation

friend class RenderAutoLock [friend]

Definition at line 233 of file display.h.

Member Data Documentation

bool rviz::Display::enabled_ [protected]

Are we enabled?

Definition at line 215 of file display.h.

std::string rviz::Display::fixed_frame_ [protected]

The frame we should transform all fixed data into.

Definition at line 221 of file display.h.

std::string rviz::Display::name_ [protected]

The name of this display.

Definition at line 214 of file display.h.

CategoryPropertyWPtr rviz::Display::parent_category_ [protected]

The parent category to use when creating properties.

Definition at line 230 of file display.h.

PropertyManager* rviz::Display::property_manager_ [protected]

The property manager to use to create properties.

Definition at line 229 of file display.h.

std::string rviz::Display::property_prefix_ [protected]

Prefix to prepend to our properties.

Definition at line 227 of file display.h.

boost::function<void ()> rviz::Display::render_callback_ [protected]

Render callback.

Definition at line 223 of file display.h.

boost::function<void ()> rviz::Display::render_lock_ [protected]

Render lock callback.

Definition at line 224 of file display.h.

boost::function<void ()> rviz::Display::render_unlock_ [protected]

Render unlock callback.

Definition at line 225 of file display.h.

Ogre::SceneManager* rviz::Display::scene_manager_ [protected]

The scene manager we're associated with.

Reimplemented in rviz::ImageDisplay.

Definition at line 213 of file display.h.

StatusLevel rviz::Display::status_ [protected]

Definition at line 216 of file display.h.

StatusPropertyWPtr rviz::Display::status_property_ [protected]

Definition at line 231 of file display.h.

ros::NodeHandle rviz::Display::threaded_nh_ [protected]

Definition at line 219 of file display.h.

ros::NodeHandle rviz::Display::update_nh_ [protected]

Definition at line 218 of file display.h.

VisualizationManager* rviz::Display::vis_manager_ [protected]

Definition at line 211 of file display.h.

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

Signals

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation