Contains any data we need from a link in the robot. More...

#include <robot_link.h>

Public Member Functions
void	createProperties ()
float	getLinkAlpha ()
bool	getLinkEnabled ()
const std::string &	getName ()
Ogre::Quaternion	getOrientationInRobotFrame ()
Ogre::Vector3	getPositionInRobotFrame ()
bool	getShowAxes ()
bool	getShowTrail ()
bool	isValid ()
void	load (TiXmlElement *root_element, urdf::Model &descr, const urdf::LinkConstPtr &link, bool visual, bool collision)
	RobotLink (Robot parent, VisualizationManager manager)
void	setAlpha (float a)
void	setLinkAlpha (float a)
void	setLinkEnabled (bool enabled)
void	setPropertyManager (PropertyManager *property_manager)
void	setShowAxes (bool show)
void	setShowTrail (bool show)
void	setToErrorMaterial ()
void	setToNormalMaterial ()
void	setTransforms (const Ogre::Vector3 &visual_position, const Ogre::Quaternion &visual_orientation, const Ogre::Vector3 &collision_position, const Ogre::Quaternion &collision_orientation, bool applyOffsetTransforms)
void	updateVisibility ()
	Update the visibility of the link elements: visual mesh, collision mesh, trail, and axes.
	~RobotLink ()
Protected Types
typedef std::map < Ogre::SubEntity *, Ogre::MaterialPtr >	M_SubEntityToMaterial
Protected Member Functions
void	createCollision (TiXmlElement *root_element, const urdf::LinkConstPtr &link)
void	createEntityForGeometryElement (TiXmlElement root_element, const urdf::LinkConstPtr &link, const urdf::Geometry &geom, const urdf::Pose &origin, Ogre::SceneNode parent_node, Ogre::Entity &entity, Ogre::SceneNode &scene_node, Ogre::SceneNode *&offset_node)
void	createSelection (const urdf::Model &descr, const urdf::LinkConstPtr &link)
void	createVisual (TiXmlElement *root_element, const urdf::LinkConstPtr &link)
Ogre::MaterialPtr	getMaterialForLink (TiXmlElement *root_element, const urdf::LinkConstPtr &link)
void	updateAlpha ()
Protected Attributes
FloatPropertyWPtr	alpha_property_
Axes *	axes_
BoolPropertyWPtr	axes_property_
Ogre::Entity *	collision_mesh_
	The entity representing the collision mesh of this link (if it exists)
Ogre::SceneNode *	collision_node_
	The scene node the collision mesh/primitive is attached to.
Ogre::SceneNode *	collision_offset_node_
Ogre::MaterialPtr	default_material_
std::string	default_material_name_
bool	enabled_
	True if this link should be shown, false if not.
std::string	joint_name_
float	link_alpha_
	Alpha value set by property of this link.
CategoryPropertyWPtr	link_property_
float	material_alpha_
	If material is not a texture, this saves the alpha value set in the URDF, otherwise is 1.0.
M_SubEntityToMaterial	materials_
std::string	name_
	Name of this link.
Ogre::Quaternion	orientation_
QuaternionPropertyWPtr	orientation_property_
Robot *	parent_
Ogre::Vector3	position_
Vector3PropertyWPtr	position_property_
PropertyManager *	property_manager_
float	robot_alpha_
	Alpha value from top-level robot alpha Property (set via setAlpha()).
Ogre::SceneManager *	scene_manager_
RobotLinkSelectionHandlerPtr	selection_handler_
CollObjectHandle	selection_object_
Ogre::RibbonTrail *	trail_
BoolPropertyWPtr	trail_property_
VisualizationManager *	vis_manager_
Ogre::Entity *	visual_mesh_
	The entity representing the visual mesh of this link (if it exists)
Ogre::SceneNode *	visual_node_
	The scene node the visual mesh is attached to.
Ogre::SceneNode *	visual_offset_node_
Friends
class	RobotLinkSelectionHandler

Detailed Description

Contains any data we need from a link in the robot.

Definition at line 89 of file robot_link.h.

Member Typedef Documentation

typedef std::map<Ogre::SubEntity*, Ogre::MaterialPtr> rviz::RobotLink::M_SubEntityToMaterial [protected]

Definition at line 152 of file robot_link.h.

Constructor & Destructor Documentation

rviz::RobotLink::RobotLink	(	Robot *	parent,
		VisualizationManager *	manager
	)

Definition at line 101 of file robot_link.cpp.

rviz::RobotLink::~RobotLink ( )

Definition at line 121 of file robot_link.cpp.

Member Function Documentation

void rviz::RobotLink::createCollision	(	TiXmlElement *	root_element,
		const urdf::LinkConstPtr &	link
	)		`[protected]`

Definition at line 449 of file robot_link.cpp.

void rviz::RobotLink::createEntityForGeometryElement	(	TiXmlElement *	root_element,
		const urdf::LinkConstPtr &	link,
		const urdf::Geometry &	geom,
		const urdf::Pose &	origin,
		Ogre::SceneNode *	parent_node,
		Ogre::Entity *&	entity,
		Ogre::SceneNode *&	scene_node,
		Ogre::SceneNode *&	offset_node
	)		`[protected]`

Definition at line 319 of file robot_link.cpp.

void rviz::RobotLink::createProperties ( )

Definition at line 499 of file robot_link.cpp.

void rviz::RobotLink::createSelection	(	const urdf::Model &	descr,
		const urdf::LinkConstPtr &	link
	)		`[protected]`

Definition at line 467 of file robot_link.cpp.

void rviz::RobotLink::createVisual	(	TiXmlElement *	root_element,
		const urdf::LinkConstPtr &	link
	)		`[protected]`

Definition at line 458 of file robot_link.cpp.

float rviz::RobotLink::getLinkAlpha ( )

Definition at line 219 of file robot_link.cpp.

bool rviz::RobotLink::getLinkEnabled ( ) [inline]

Definition at line 125 of file robot_link.h.

Ogre::MaterialPtr rviz::RobotLink::getMaterialForLink	(	TiXmlElement *	root_element,
		const urdf::LinkConstPtr &	link
	)		`[protected]`

Definition at line 251 of file robot_link.cpp.

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

Definition at line 111 of file robot_link.h.

Ogre::Quaternion rviz::RobotLink::getOrientationInRobotFrame ( )

Definition at line 541 of file robot_link.cpp.

Ogre::Vector3 rviz::RobotLink::getPositionInRobotFrame ( )

Definition at line 536 of file robot_link.cpp.

bool rviz::RobotLink::getShowAxes ( )

Definition at line 614 of file robot_link.cpp.

bool rviz::RobotLink::getShowTrail ( )

Definition at line 584 of file robot_link.cpp.

bool rviz::RobotLink::isValid ( )

Definition at line 151 of file robot_link.cpp.

void rviz::RobotLink::load	(	TiXmlElement *	root_element,
		urdf::Model &	descr,
		const urdf::LinkConstPtr &	link,
		bool	visual,
		bool	collision
	)

Definition at line 156 of file robot_link.cpp.

void rviz::RobotLink::setAlpha ( float a )

Definition at line 181 of file robot_link.cpp.

void rviz::RobotLink::setLinkAlpha ( float a )

Definition at line 212 of file robot_link.cpp.

void rviz::RobotLink::setLinkEnabled ( bool enabled )

Definition at line 224 of file robot_link.cpp.

void rviz::RobotLink::setPropertyManager ( PropertyManager * property_manager )

Definition at line 494 of file robot_link.cpp.

void rviz::RobotLink::setShowAxes ( bool show )

Definition at line 589 of file robot_link.cpp.

void rviz::RobotLink::setShowTrail ( bool show )

Definition at line 546 of file robot_link.cpp.

void rviz::RobotLink::setToErrorMaterial ( )

Definition at line 651 of file robot_link.cpp.

void rviz::RobotLink::setToNormalMaterial ( )

Definition at line 664 of file robot_link.cpp.

void rviz::RobotLink::setTransforms	(	const Ogre::Vector3 &	visual_position,
		const Ogre::Quaternion &	visual_orientation,
		const Ogre::Vector3 &	collision_position,
		const Ogre::Quaternion &	collision_orientation,
		bool	applyOffsetTransforms
	)