Uses a robot xml description to display the pieces of a robot at the transforms broadcast by rosTF. More...

#include <robot_model_display.h>

Inheritance diagram for rviz::RobotModelDisplay:

Public Member Functions
void	clear ()
virtual void	createProperties ()
	Called from setPropertyManager, gives the display a chance to create some properties immediately.
virtual void	fixedFrameChanged ()
	Override to handle changes to fixed_frame_. This base class implementation does nothing.
float	getAlpha ()
const std::string &	getRobotDescription ()
const std::string &	getTFPrefix ()
float	getUpdateRate ()
virtual void	hideVisible ()
	Hides all visible parts of this display, so they do not show up when the scene is rendered.
bool	isCollisionVisible ()
bool	isVisualVisible ()
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.
	RobotModelDisplay ()
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	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.
bool	hidden_
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_

Detailed Description

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.

Constructor & Destructor Documentation

rviz::RobotModelDisplay::RobotModelDisplay ( )

Definition at line 52 of file robot_model_display.cpp.

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

Definition at line 62 of file robot_model_display.cpp.

Member Function Documentation

void rviz::RobotModelDisplay::clear ( void )

Definition at line 282 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::createProperties ( ) [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 from rviz::Display.

Definition at line 249 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::fixedFrameChanged ( ) [virtual]

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

Reimplemented from rviz::Display.

Definition at line 244 of file robot_model_display.cpp.

float rviz::RobotModelDisplay::getAlpha ( ) [inline]

Definition at line 99 of file robot_model_display.h.

const std::string& rviz::RobotModelDisplay::getRobotDescription ( ) [inline]

Definition at line 94 of file robot_model_display.h.

const std::string& rviz::RobotModelDisplay::getTFPrefix ( ) [inline]

Definition at line 102 of file robot_model_display.h.

float rviz::RobotModelDisplay::getUpdateRate ( ) [inline]

Definition at line 95 of file robot_model_display.h.

void rviz::RobotModelDisplay::hideVisible ( ) [virtual]

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

Reimplemented from rviz::Display.

Definition at line 99 of file robot_model_display.cpp.

bool rviz::RobotModelDisplay::isCollisionVisible ( )

Definition at line 154 of file robot_model_display.cpp.

bool rviz::RobotModelDisplay::isVisualVisible ( )

Definition at line 149 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 159 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 222 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 216 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::onInitialize ( ) [virtual]

Override this function to do subclass-specific initialization.

This is called after vis_manager_ and scene_manager_ are set.

Reimplemented from rviz::Display.

Definition at line 67 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 289 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::restoreVisible ( ) [virtual]

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

Reimplemented from rviz::Display.

Definition at line 105 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::setAlpha ( float alpha )

Definition at line 77 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::setCollisionVisible ( bool visible )

Set whether the collision representation should be displayed.

Parameters:

visible

Definition at line 120 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::setRobotDescription ( const std::string & description_param )

Set the robot description parameter.

Parameters:

description_param The ROS parameter name which contains the robot xml description

Definition at line 86 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::setTFPrefix ( const std::string & prefix )

Definition at line 138 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::setUpdateRate ( float rate )

Set the rate at which we request new transforms from libTF.

Parameters:

rate	The rate, in seconds

Definition at line 129 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::setVisualVisible ( bool visible )

Set whether the visual mesh representation should be displayed.

Parameters:

visible

Definition at line 111 of file robot_model_display.cpp.

void rviz::RobotModelDisplay::update	(	float	wall_dt,
		float	ros_dt
	)		`[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 from rviz::Display.

Definition at line 228 of file robot_model_display.cpp.

Member Data Documentation

float rviz::RobotModelDisplay::alpha_ [protected]

Definition at line 137 of file robot_model_display.h.

FloatPropertyWPtr rviz::RobotModelDisplay::alpha_property_ [protected]

Definition at line 144 of file robot_model_display.h.

BoolPropertyWPtr rviz::RobotModelDisplay::collision_enabled_property_ [protected]

Definition at line 141 of file robot_model_display.h.

std::string rviz::RobotModelDisplay::description_param_ [protected]

ROS parameter that contains the robot xml description.

Definition at line 129 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 133 of file robot_model_display.h.

bool rviz::RobotModelDisplay::hidden_ [protected]

Definition at line 149 of file robot_model_display.h.

Robot* rviz::RobotModelDisplay::robot_ [protected]

Handles actually drawing the robot.

Definition at line 131 of file robot_model_display.h.

std::string rviz::RobotModelDisplay::robot_description_ [protected]

Definition at line 147 of file robot_model_display.h.

StringPropertyWPtr rviz::RobotModelDisplay::robot_description_property_ [protected]

Definition at line 143 of file robot_model_display.h.

std::string rviz::RobotModelDisplay::tf_prefix_ [protected]

Definition at line 138 of file robot_model_display.h.

StringPropertyWPtr rviz::RobotModelDisplay::tf_prefix_property_ [protected]

Definition at line 145 of file robot_model_display.h.

float rviz::RobotModelDisplay::time_since_last_transform_ [protected]

Definition at line 135 of file robot_model_display.h.

float rviz::RobotModelDisplay::update_rate_ [protected]

Definition at line 136 of file robot_model_display.h.

FloatPropertyWPtr rviz::RobotModelDisplay::update_rate_property_ [protected]

Definition at line 142 of file robot_model_display.h.

BoolPropertyWPtr rviz::RobotModelDisplay::visual_enabled_property_ [protected]

Definition at line 140 of file robot_model_display.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation