The VisualizationManager class is the central manager class of rviz, holding all the Displays, Tools, ViewControllers, and other managers. More...

#include <visualization_manager.h>

Public Types
typedef std::set< std::string >	S_string
Signals
void	configChanged ()
	Emitted whenever the display configuration changes.
void	displayAdded (DisplayWrapper *)
	Emitted after a DisplayWrapper has been added and its Display has been created, but before the display is enabled for the first time.
void	displayAdding (DisplayWrapper *)
	Emitted just before a DisplayWrapper is added to the list of displays.
void	displayRemoved (DisplayWrapper *)
	Emitted just after a DisplayWrapper is removed from the list of displays, and before it is deleted.
void	displayRemoving (DisplayWrapper *)
	Emitted just before a DisplayWrapper is removed from the list of displays.
void	displaysConfigLoaded (const boost::shared_ptr< Config > &)
	Emitted by loadDisplayConfig() after Displays are loaded.
void	displaysConfigSaved (const boost::shared_ptr< Config > &)
	Emitted by saveDisplayConfig() after Displays are saved.
void	displaysRemoved (const V_DisplayWrapper &)
	Emitted by removeAllDisplays() just after the list of displays is emptied.
void	displaysRemoving (const V_DisplayWrapper &)
	Emitted by removeAllDisplays() just before the list of displays is emptied.
void	timeChanged ()
	Emitted at most once every 100ms.
void	toolAdded (Tool *)
	Emitted by addTool() after the tool is added to the list of tools.
void	toolChanged (Tool *)
	Emitted by setCurrentTool() after the newly chosen tool is activated.
void	viewControllerChanged (ViewController *)
	Emitted after the current ViewController has changed.
void	viewControllerTypeAdded (const std::string &class_name, const std::string &name)
	Emitted when a new ViewController type is added.
Public Member Functions
void	addTool (Tool *tool)
	Add a tool. Adds a tool to the list of tools and emits the toolAdded(Tool*) signal.
DisplayWrapper *	createDisplay (const std::string &class_lookup_name, const std::string &name, bool enabled)
	Create and add a display to this panel, by class lookup name.
template<class T >
T *	createTool (const std::string &name, char shortcut_key)
	Create and add a tool. This will go away in visualization 1.9, it is just a wrapper around the constructor for T and a call to addTool().
const Color &	getBackgroundColor ()
	Return the background color of the main RenderWindow.
Tool *	getCurrentTool ()
	Return the tool currently in use.
ViewController *	getCurrentViewController ()
	Return the current ViewController in use for the main RenderWindow.
std::string	getCurrentViewControllerType ()
	Return the type of the current ViewController as a std::string, like "rviz::OrbitViewController".
Tool *	getDefaultTool ()
	Get the default tool.
pluginlib::ClassLoader< Display > *	getDisplayClassLoader ()
	Return the pluginlib::ClassLoader instance to use for loading Display subclasses.
void	getDisplayNames (S_string &displays)
	Return a std::set with all the current display names.
V_DisplayWrapper &	getDisplays ()
	Return a reference to the DisplayWrapper array.
DisplayWrapper *	getDisplayWrapper (const std::string &name)
	Performs a linear search to find a display wrapper based on its name.
DisplayWrapper *	getDisplayWrapper (Display *display)
	Performs a linear search to find the DisplayWrapper holding a given Display.
const std::string &	getFixedFrame ()
	Return the fixed frame name.
uint64_t	getFrameCount ()
	Return the current value of the frame count.
FrameManager *	getFrameManager ()
	Return the FrameManager instance.
PropertyManager *	getPropertyManager ()
	Get the PropertyManager which handles Propertys of Displays.
RenderPanel *	getRenderPanel ()
	Return the main RenderPanel.
double	getROSTime ()
	Return the ROS time, in seconds.
double	getROSTimeElapsed ()
	Return the ROS time in seconds since the last reset.
Ogre::SceneManager *	getSceneManager ()
	Returns the Ogre::SceneManager used for the main RenderPanel.
SelectionManager *	getSelectionManager ()
	Return a pointer to the SelectionManager.
std::string	getTargetFrame ()
	Return the target frame name.
tf::TransformListener *	getTFClient ()
	Convenience function: returns getFrameManager()->getTFClient().
ros::CallbackQueueInterface *	getThreadedQueue ()
	Return a CallbackQueue using a different thread than the main GUI one.
Tool *	getTool (int index)
	Return the tool at a given index in the Tool list. If index is less than 0 or greater than the number of tools, this will fail an assertion.
PropertyManager *	getToolPropertyManager ()
	Get the PropertyManager which handles Propertys of Tools.
ros::CallbackQueueInterface *	getUpdateQueue ()
	Return the CallbackQueue using the main GUI thread.
double	getWallClock ()
	Return the wall clock time, in seconds since 1970.
double	getWallClockElapsed ()
	Return the wall clock time in seconds since the last reset.
WindowManagerInterface *	getWindowManager ()
	Return the window manager, if any.
void	handleChar (QKeyEvent event, RenderPanel panel)
	Handle a single key event for a given RenderPanel.
void	handleMouseEvent (ViewportMouseEvent &event)
	Handle a mouse event.
void	initialize (const StatusCallback &cb=StatusCallback(), bool verbose=false)
	Do initialization that wasn't done in constructor. Sets initial fixed and target frames, adds view controllers and tools, and initializes SelectionManager.
bool	isValidDisplay (const DisplayWrapper *display)
	Return true if the given DisplayWrapper is currently in the list of displays, false otherwise.
void	loadDisplayConfig (const boost::shared_ptr< Config > &config, const StatusCallback &cb=StatusCallback())
	Load the properties of each Display and most editable rviz data.
void	lockRender ()
	Lock a mutex to delay calls to Ogre::Root::renderOneFrame().
void	notifyConfigChanged ()
	Notify this VisualizationManager that something about its display configuration has changed.
void	queueRender ()
	Queues a render. Multiple calls before a render happens will only cause a single render.
void	removeAllDisplays ()
	Remove all displays.
void	removeDisplay (DisplayWrapper *display)
	Remove a display, by wrapper pointer.
void	removeDisplay (const std::string &name)
	Remove a display by name. Removes the display with the given GUI display name, like "Left arm camera".
void	resetDisplays ()
	call Display::reset() on every Display.
void	resetTime ()
	Resets the wall and ROS elapsed time to zero and calls resetDisplays().
void	saveDisplayConfig (const boost::shared_ptr< Config > &config)
	Save the properties of each Display and most editable rviz data.
void	setBackgroundColor (const Color &c)
	Set the background color of the main RenderWindow.
void	setCurrentTool (Tool *tool)
	Set the current tool. The current tool is given all mouse and keyboard events which VisualizationManager receives via handleMouseEvent() and handleChar().
bool	setCurrentViewControllerType (const std::string &type)
	Set the current view controller by specifying the desired type.
void	setDefaultTool (Tool *tool)
	Set the default tool.
void	setFixedFrame (const std::string &frame)
	Set the coordinate frame we should be transforming all fixed data into.
void	setTargetFrame (const std::string &frame)
	Set the coordinate frame whose position the display should track.
void	startUpdate ()
	Start timers. Creates and starts the update and idle timers, both set to 30Hz (33ms).
void	unlockRender ()
	Unlock a mutex, allowing calls to Ogre::Root::renderOneFrame().
	VisualizationManager (RenderPanel render_panel, WindowManagerInterface wm=0)
	Constructor Creates managers and sets up global properties.
virtual	~VisualizationManager ()
	Destructor Stops update timers and destroys all displays, tools, and managers.
Protected Types
typedef std::vector< Tool * >	V_Tool
Protected Slots
void	onDisplayCreated (DisplayWrapper *wrapper)
void	onIdle ()
	Render one frame if requested and enough time has passed since the previous render.
void	onUpdate ()
	Call update() on all managed objects.
Protected Member Functions
bool	addDisplay (DisplayWrapper *wrapper, bool enabled)
	Add a display to be managed by this panel.
void	addViewController (const std::string &class_name, const std::string &name)
void	createColorMaterials ()
void	incomingROSTime ()
void	onPluginUnloading (const PluginStatus &status)
void	threadedQueueThreadFunc ()
void	updateFrames ()
void	updateRelativeNode ()
void	updateTime ()
Protected Attributes
V_string	available_frames_
Color	background_color_
ColorPropertyWPtr	background_color_property_
Tool *	current_tool_
Tool *	default_tool_
bool	disable_update_
pluginlib::ClassLoader< Display > *	display_class_loader_
V_DisplayWrapper	displays_
	Our list of displays.
std::string	fixed_frame_
	Frame to transform fixed data to.
EditEnumPropertyWPtr	fixed_frame_property_
uint64_t	frame_count_
FrameManagerPtr	frame_manager_
float	frame_update_timer_
QTimer *	idle_timer_
	Timer with a timeout of 0. Called by Qt event loop when it has no events to process.
ros::WallTime	last_render_
ros::Time	last_update_ros_time_
	Update stopwatch. Stores how long it's been since the last update.
ros::WallTime	last_update_wall_time_
Ogre::Root *	ogre_root_
	Ogre Root.
PropertyManager *	property_manager_
boost::mutex	render_mutex_
RenderPanel *	render_panel_
uint32_t	render_requested_
ros::Time	ros_time_begin_
ros::Duration	ros_time_elapsed_
Ogre::SceneManager *	scene_manager_
	Ogre scene manager associated with this panel.
SelectionManager *	selection_manager_
volatile bool	shutting_down_
StatusPropertyWPtr	status_property_
std::string	target_frame_
	Target coordinate frame we're displaying everything in.
bool	target_frame_is_fixed_frame_
TFFramePropertyWPtr	target_frame_property_
Ogre::SceneNode *	target_scene_node_
ros::NodeHandle	threaded_nh_
ros::CallbackQueue	threaded_queue_
boost::thread_group	threaded_queue_threads_
float	time_update_timer_
PropertyManager *	tool_property_manager_
V_Tool	tools_
ros::NodeHandle	update_nh_
QTimer *	update_timer_
	Update timer. Display::update is called on each display whenever this timer fires.
ViewController *	view_controller_
std::deque< ViewportMouseEvent >	vme_queue_
boost::mutex	vme_queue_mutex_
ros::WallTime	wall_clock_begin_
ros::WallDuration	wall_clock_elapsed_
WindowManagerInterface *	window_manager_

Detailed Description

The VisualizationManager class is the central manager class of rviz, holding all the Displays, Tools, ViewControllers, and other managers.

It keeps the current view controller for the main render window. It has a timer which calls update() on all the displays. It creates and holds pointers to the other manager objects: SelectionManager, FrameManager, the PropertyManager s, and Ogre::SceneManager.

The "protected" members should probably all be "private", as VisualizationManager is not intended to be subclassed.

Definition at line 103 of file visualization_manager.h.

Member Typedef Documentation

typedef std::set<std::string> rviz::VisualizationManager::S_string

Definition at line 331 of file visualization_manager.h.

typedef std::vector< Tool* > rviz::VisualizationManager::V_Tool [protected]

Definition at line 616 of file visualization_manager.h.

Constructor & Destructor Documentation

rviz::VisualizationManager::VisualizationManager	(	RenderPanel *	render_panel,
		WindowManagerInterface *	wm = `0`
	)

Constructor Creates managers and sets up global properties.

Parameters:

render_panel	a pointer to the main render panel widget of the app. This is the render_panel connected to the ViewController managed by this VisualizationManager.
wm	a pointer to the window manager (which is really just a VisualizationFrame, the top-level container widget of rviz).

Definition at line 86 of file visualization_manager.cpp.

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

Destructor Stops update timers and destroys all displays, tools, and managers.

Definition at line 148 of file visualization_manager.cpp.

Member Function Documentation

bool rviz::VisualizationManager::addDisplay	(	DisplayWrapper *	wrapper,
		bool	enabled
	)		`[protected]`

Add a display to be managed by this panel.

Parameters:

display The display to be added

Definition at line 530 of file visualization_manager.cpp.

void rviz::VisualizationManager::addTool ( Tool * tool )

Add a tool. Adds a tool to the list of tools and emits the toolAdded(Tool*) signal.

Definition at line 607 of file visualization_manager.cpp.

void rviz::VisualizationManager::addViewController	(	const std::string &	class_name,
		const std::string &	name
	)		`[protected]`

Definition at line 951 of file visualization_manager.cpp.

void rviz::VisualizationManager::configChanged ( ) [signal]

Emitted whenever the display configuration changes.

void rviz::VisualizationManager::createColorMaterials ( ) [protected]

Definition at line 247 of file visualization_manager.cpp.

DisplayWrapper * rviz::VisualizationManager::createDisplay	(	const std::string &	class_lookup_name,
		const std::string &	name,
		bool	enabled
	)

Create and add a display to this panel, by class lookup name.

Parameters:

class_lookup_name	"lookup name" of the Display subclass, for pluginlib. Should be of the form "packagename/displaynameofclass", like "rviz/Image".
name	The name of this display instance shown on the GUI, like "Left arm camera".
enabled	Whether to start enabled

Returns:: A pointer to the wrapper for the new display

Definition at line 807 of file visualization_manager.cpp.

template<class T >

T* rviz::VisualizationManager::createTool	(	const std::string &	name,
		char	shortcut_key
	)		`[inline]`

Create and add a tool. This will go away in visualization 1.9, it is just a wrapper around the constructor for T and a call to addTool().

Definition at line 170 of file visualization_manager.h.

void rviz::VisualizationManager::displayAdded ( DisplayWrapper * ) [signal]

Emitted after a DisplayWrapper has been added and its Display has been created, but before the display is enabled for the first time.

void rviz::VisualizationManager::displayAdding ( DisplayWrapper * ) [signal]

Emitted just before a DisplayWrapper is added to the list of displays.

void rviz::VisualizationManager::displayRemoved ( DisplayWrapper * ) [signal]

Emitted just after a DisplayWrapper is removed from the list of displays, and before it is deleted.

void rviz::VisualizationManager::displayRemoving ( DisplayWrapper * ) [signal]

Emitted just before a DisplayWrapper is removed from the list of displays.

void rviz::VisualizationManager::displaysConfigLoaded ( const boost::shared_ptr< Config > & ) [signal]

Emitted by loadDisplayConfig() after Displays are loaded.

Connect to this signal in order to load your object's state from a Config object when a new display Config is being loaded.

void rviz::VisualizationManager::displaysConfigSaved ( const boost::shared_ptr< Config > & ) [signal]

Emitted by saveDisplayConfig() after Displays are saved.

Connect to this signal in order to save your object's state to a Config object when a display Config is being saved.

void rviz::VisualizationManager::displaysRemoved ( const V_DisplayWrapper & ) [signal]

Emitted by removeAllDisplays() just after the list of displays is emptied.

void rviz::VisualizationManager::displaysRemoving ( const V_DisplayWrapper & ) [signal]

Emitted by removeAllDisplays() just before the list of displays is emptied.

const Color & rviz::VisualizationManager::getBackgroundColor ( )

Return the background color of the main RenderWindow.

Definition at line 935 of file visualization_manager.cpp.

Tool* rviz::VisualizationManager::getCurrentTool ( ) [inline]

Return the tool currently in use.

See also:: setCurrentTool()

Definition at line 188 of file visualization_manager.h.

ViewController* rviz::VisualizationManager::getCurrentViewController ( ) [inline]

Return the current ViewController in use for the main RenderWindow.

Definition at line 404 of file visualization_manager.h.

std::string rviz::VisualizationManager::getCurrentViewControllerType ( )

Return the type of the current ViewController as a std::string, like "rviz::OrbitViewController".

Definition at line 1005 of file visualization_manager.cpp.

Tool* rviz::VisualizationManager::getDefaultTool ( ) [inline]

Get the default tool.

See also:: setDefaultTool()

Definition at line 223 of file visualization_manager.h.

pluginlib::ClassLoader<Display>* rviz::VisualizationManager::getDisplayClassLoader ( ) [inline]

Return the pluginlib::ClassLoader instance to use for loading Display subclasses.

Definition at line 471 of file visualization_manager.h.

void rviz::VisualizationManager::getDisplayNames ( S_string & displays )

Return a std::set with all the current display names.

Definition at line 255 of file visualization_manager.cpp.

V_DisplayWrapper& rviz::VisualizationManager::getDisplays ( ) [inline]

Return a reference to the DisplayWrapper array.

Definition at line 341 of file visualization_manager.h.

DisplayWrapper * rviz::VisualizationManager::getDisplayWrapper ( const std::string & name )

Performs a linear search to find a display wrapper based on its name.

Parameters:

name	Name of the display to search for

Definition at line 640 of file visualization_manager.cpp.

DisplayWrapper * rviz::VisualizationManager::getDisplayWrapper ( Display * display )

Performs a linear search to find the DisplayWrapper holding a given Display.

Parameters:

display Display to search for.

Definition at line 656 of file visualization_manager.cpp.

const std::string& rviz::VisualizationManager::getFixedFrame ( ) [inline]

Return the fixed frame name.

See also:: setFixedFrame()

Definition at line 279 of file visualization_manager.h.

uint64_t rviz::VisualizationManager::getFrameCount ( ) [inline]

Return the current value of the frame count.

The frame count is just a number which increments each time a frame is rendered. This lets clients check if a new frame has been rendered since the last time they did something.

Definition at line 481 of file visualization_manager.h.

FrameManager* rviz::VisualizationManager::getFrameManager ( ) [inline]

Return the FrameManager instance.

Definition at line 474 of file visualization_manager.h.

PropertyManager* rviz::VisualizationManager::getPropertyManager ( ) [inline]

Get the PropertyManager which handles Propertys of Displays.

Definition at line 299 of file visualization_manager.h.

RenderPanel* rviz::VisualizationManager::getRenderPanel ( ) [inline]

Return the main RenderPanel.

Definition at line 329 of file visualization_manager.h.

double rviz::VisualizationManager::getROSTime ( )

Return the ROS time, in seconds.

Definition at line 909 of file visualization_manager.cpp.

double rviz::VisualizationManager::getROSTimeElapsed ( )

Return the ROS time in seconds since the last reset.

Definition at line 919 of file visualization_manager.cpp.

Ogre::SceneManager* rviz::VisualizationManager::getSceneManager ( ) [inline]

Returns the Ogre::SceneManager used for the main RenderPanel.

Definition at line 324 of file visualization_manager.h.

SelectionManager* rviz::VisualizationManager::getSelectionManager ( ) [inline]

Return a pointer to the SelectionManager.

Definition at line 436 of file visualization_manager.h.

std::string rviz::VisualizationManager::getTargetFrame ( )

Return the target frame name.

See also:: setTargetFrame()

Definition at line 265 of file visualization_manager.cpp.

tf::TransformListener * rviz::VisualizationManager::getTFClient ( )

Convenience function: returns getFrameManager()->getTFClient().

Definition at line 504 of file visualization_manager.cpp.

ros::CallbackQueueInterface* rviz::VisualizationManager::getThreadedQueue ( ) [inline]

Return a CallbackQueue using a different thread than the main GUI one.

Definition at line 467 of file visualization_manager.h.

Tool * rviz::VisualizationManager::getTool ( int index )

Return the tool at a given index in the Tool list. If index is less than 0 or greater than the number of tools, this will fail an assertion.

Definition at line 632 of file visualization_manager.cpp.

PropertyManager* rviz::VisualizationManager::getToolPropertyManager ( ) [inline]

Get the PropertyManager which handles Propertys of Tools.

Definition at line 305 of file visualization_manager.h.

ros::CallbackQueueInterface* rviz::VisualizationManager::getUpdateQueue ( ) [inline]

Return the CallbackQueue using the main GUI thread.

Definition at line 462 of file visualization_manager.h.

double rviz::VisualizationManager::getWallClock ( )

Return the wall clock time, in seconds since 1970.

Definition at line 904 of file visualization_manager.cpp.

double rviz::VisualizationManager::getWallClockElapsed ( )

Return the wall clock time in seconds since the last reset.

Definition at line 914 of file visualization_manager.cpp.

WindowManagerInterface* rviz::VisualizationManager::getWindowManager ( ) [inline]

Return the window manager, if any.

Definition at line 457 of file visualization_manager.h.

void rviz::VisualizationManager::handleChar	(	QKeyEvent *	event,
		RenderPanel *	panel
	)

Handle a single key event for a given RenderPanel.

If the key is Escape, switches to the default Tool (via getDefaultTool()). All other key events are passed to the current Tool (via getCurrentTool()).

Definition at line 940 of file visualization_manager.cpp.

void rviz::VisualizationManager::handleMouseEvent ( ViewportMouseEvent & event )

Handle a mouse event.

This just copies the given event into an event queue. The events in the queue are processed by onUpdate() which is called from the main thread by a timer every 33ms.

Definition at line 1010 of file visualization_manager.cpp.

void rviz::VisualizationManager::incomingROSTime ( ) [protected]

void rviz::VisualizationManager::initialize	(	const StatusCallback &	cb = `StatusCallback()`,
		bool	verbose = `false`
	)

Do initialization that wasn't done in constructor. Sets initial fixed and target frames, adds view controllers and tools, and initializes SelectionManager.

Definition at line 191 of file visualization_manager.cpp.

bool rviz::VisualizationManager::isValidDisplay ( const DisplayWrapper * display )

Return true if the given DisplayWrapper is currently in the list of displays, false otherwise.

This does not check that the Display has actually been loaded into the DisplayWrapper.

Definition at line 889 of file visualization_manager.cpp.

void rviz::VisualizationManager::loadDisplayConfig	(	const boost::shared_ptr< Config > &	config,
		const StatusCallback &	cb = `StatusCallback()`
	)

Load the properties of each Display and most editable rviz data.

This is what is called when loading a "*.vcg" file.

Parameters:

config	The object to read data from.
cb	An optional callback function to call with status updates, such as "loading displays".

See also:: saveDisplayConfig()

Definition at line 688 of file visualization_manager.cpp.

void rviz::VisualizationManager::lockRender ( ) [inline]

Lock a mutex to delay calls to Ogre::Root::renderOneFrame().

Definition at line 441 of file visualization_manager.h.

void rviz::VisualizationManager::notifyConfigChanged ( )

Notify this VisualizationManager that something about its display configuration has changed.

Definition at line 1032 of file visualization_manager.cpp.

void rviz::VisualizationManager::onDisplayCreated ( DisplayWrapper * wrapper ) [protected, slot]

Definition at line 520 of file visualization_manager.cpp.

void rviz::VisualizationManager::onIdle ( ) [protected, slot]

Render one frame if requested and enough time has passed since the previous render.

Called at 30Hz from the "idle" timer

Definition at line 388 of file visualization_manager.cpp.

void rviz::VisualizationManager::onPluginUnloading ( const PluginStatus & status ) [protected]

Definition at line 1024 of file visualization_manager.cpp.

void rviz::VisualizationManager::onUpdate ( ) [protected, slot]

Call update() on all managed objects.

This is the central place where update() is called on most rviz objects. Display objects, the FrameManager, the current ViewController, the SelectionManager, PropertyManager. Also calls ros::spinOnce(), so any callbacks on the global CallbackQueue get called from here as well.

It is called at 30Hz from the update timer.

Definition at line 285 of file visualization_manager.cpp.

void rviz::VisualizationManager::queueRender ( )

Queues a render. Multiple calls before a render happens will only cause a single render.

Note:: This function can be called from any thread.

Definition at line 275 of file visualization_manager.cpp.

void rviz::VisualizationManager::removeAllDisplays ( )

Remove all displays.

Definition at line 568 of file visualization_manager.cpp.

void rviz::VisualizationManager::removeDisplay ( DisplayWrapper * display )

Remove a display, by wrapper pointer.

Parameters:

display The wrapper of the display to remove

Definition at line 552 of file visualization_manager.cpp.

void rviz::VisualizationManager::removeDisplay ( const std::string & name )

Remove a display by name. Removes the display with the given GUI display name, like "Left arm camera".

Parameters:

name	The name of the display to remove

Definition at line 580 of file visualization_manager.cpp.

void rviz::VisualizationManager::resetDisplays ( )

call Display::reset() on every Display.

Definition at line 592 of file visualization_manager.cpp.

void rviz::VisualizationManager::resetTime ( )

Resets the wall and ROS elapsed time to zero and calls resetDisplays().

Definition at line 509 of file visualization_manager.cpp.

void rviz::VisualizationManager::saveDisplayConfig ( const boost::shared_ptr< Config > & config )

Save the properties of each Display and most editable rviz data.

This is what is called when saving a "*.vcg" file.

Parameters:

config The object to write to.

See also:: loadDisplayConfig()

Definition at line 775 of file visualization_manager.cpp.

void rviz::VisualizationManager::setBackgroundColor ( const Color & c )

Set the background color of the main RenderWindow.

Definition at line 924 of file visualization_manager.cpp.

void rviz::VisualizationManager::setCurrentTool ( Tool * tool )

Set the current tool. The current tool is given all mouse and keyboard events which VisualizationManager receives via handleMouseEvent() and handleChar().

See also:: getCurrentTool()

Definition at line 614 of file visualization_manager.cpp.

bool rviz::VisualizationManager::setCurrentViewControllerType ( const std::string & type )

Set the current view controller by specifying the desired type.

This accepts the actual C++ class name (with namespace) of the subclass of ViewController and also accepts a number of variants for backward-compatibility:

"rviz::OrbitViewController", "Orbit"
"rviz::XYOrbitViewController", "XYOrbit", "rviz::SimpleOrbitViewController", "SimpleOrbit"
"rviz::FPSViewController", "FPS"
"rviz::FixedOrientationOrthoViewController", "TopDownOrtho", "Top-down Orthographic"

If `type` is not one of these and there is not a current ViewController, the type defaults to rviz::OrbitViewController. If `type` is not one of these and there *is* a current ViewController, nothing happens.

If the selected type is different from the current type, a new instance of the selected type is created, set in the main RenderPanel, and sent out via the viewControllerChanged() signal.

Definition at line 956 of file visualization_manager.cpp.

void rviz::VisualizationManager::setDefaultTool ( Tool * tool )

Set the default tool.

The default tool is selected directly by pressing the Escape key. The default tool is indirectly selected when a Tool returns Finished in the bit field result of Tool::processMouseEvent(). This is how control moves from the InitialPoseTool back to MoveCamera when InitialPoseTool receives a left mouse button release event.

See also:: getDefaultTool()

Definition at line 627 of file visualization_manager.cpp.

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

Set the coordinate frame we should be transforming all fixed data into.

Parameters:

frame The name of the frame -- must match the frame name broadcast to libTF

See also:: getFixedFrame()

Definition at line 856 of file visualization_manager.cpp.

void rviz::VisualizationManager::setTargetFrame ( const std::string & frame )

Set the coordinate frame whose position the display should track.

The view controller sets the camera position by looking at the position of the target frame relative to the fixed frame and adding that to the position of the camera as controlled by the user. This lets the user keep the virtual camera following a robot, for example, but not spinning the camera when the robot spins.

Parameters:

frame The target frame name -- must match the frame name broadcast to libTF