#include <planning_scene_display.h>

Inheritance diagram for moveit_rviz_plugin::PlanningSceneDisplay:

Public Member Functions
void	addBackgroundJob (const boost::function< void()> &job, const std::string &name)
void	addMainLoopJob (const boost::function< void()> &job)
void	clearJobs ()
const planning_scene_monitor::PlanningSceneMonitorPtr &	getPlanningSceneMonitor ()
planning_scene_monitor::LockedPlanningSceneRO	getPlanningSceneRO () const
planning_scene_monitor::LockedPlanningSceneRW	getPlanningSceneRW ()
const robot_model::RobotModelConstPtr &	getRobotModel () const
virtual void	load (const rviz::Config &config)
	PlanningSceneDisplay (bool listen_to_planning_scene=true, bool show_scene_robot=true)
void	queueRenderSceneGeometry ()
virtual void	reset ()
virtual void	save (rviz::Config config) const
void	setLinkColor (const std::string &link_name, const QColor &color)
void	unsetLinkColor (const std::string &link_name)
virtual void	update (float wall_dt, float ros_dt)
void	waitForAllMainLoopJobs ()
virtual	~PlanningSceneDisplay ()
Protected Member Functions
void	calculateOffsetPosition ()
	Set the scene node's position, given the target frame and the planning frame.
void	clearRobotModel ()
virtual planning_scene_monitor::PlanningSceneMonitorPtr	createPlanningSceneMonitor ()
void	executeMainLoopJobs ()
virtual void	fixedFrameChanged ()
void	loadRobotModel ()
virtual void	onDisable ()
virtual void	onEnable ()
virtual void	onInitialize ()
virtual void	onRobotModelLoaded ()
	This is an event called by loadRobotModel() in the MainLoop; do not call directly.
virtual void	onSceneMonitorReceivedUpdate (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
void	renderPlanningScene ()
void	sceneMonitorReceivedUpdate (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
void	setGroupColor (rviz::Robot *robot, const std::string &group_name, const QColor &color)
void	setLinkColor (rviz::Robot *robot, const std::string &link_name, const QColor &color)
void	unsetAllColors (rviz::Robot *robot)
void	unsetGroupColor (rviz::Robot *robot, const std::string &group_name)
void	unsetLinkColor (rviz::Robot *robot, const std::string &link_name)
virtual void	updateInternal (float wall_dt, float ros_dt)
Protected Attributes
rviz::ColorProperty *	attached_body_color_property_
BackgroundProcessing	background_process_
float	current_scene_time_
std::deque< boost::function < void()> >	main_loop_jobs_
boost::condition_variable	main_loop_jobs_empty_condition_
boost::mutex	main_loop_jobs_lock_
bool	model_is_loading_
rviz::EnumProperty *	octree_coloring_property_
rviz::EnumProperty *	octree_render_property_
planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor_
bool	planning_scene_needs_render_
Ogre::SceneNode *	planning_scene_node_
	displays planning scene with everything in it
PlanningSceneRenderPtr	planning_scene_render_
RobotStateVisualizationPtr	planning_scene_robot_
rviz::RosTopicProperty *	planning_scene_topic_property_
rviz::FloatProperty *	robot_alpha_property_
rviz::Property *	robot_category_
rviz::StringProperty *	robot_description_property_
boost::mutex	robot_model_loading_lock_
rviz::FloatProperty *	scene_alpha_property_
rviz::Property *	scene_category_
rviz::ColorProperty *	scene_color_property_
rviz::FloatProperty *	scene_display_time_property_
rviz::BoolProperty *	scene_enabled_property_
rviz::StringProperty *	scene_name_property_
rviz::BoolProperty *	scene_robot_enabled_property_
Private Slots
void	changedAttachedBodyColor ()
void	changedOctreeColorMode ()
void	changedOctreeRenderMode ()
void	changedPlanningSceneTopic ()
void	changedRobotDescription ()
void	changedRobotSceneAlpha ()
void	changedSceneAlpha ()
void	changedSceneColor ()
void	changedSceneDisplayTime ()
void	changedSceneEnabled ()
void	changedSceneName ()
void	changedSceneRobotEnabled ()

Detailed Description

Definition at line 64 of file planning_scene_display.h.

Constructor & Destructor Documentation

moveit_rviz_plugin::PlanningSceneDisplay::PlanningSceneDisplay	(	bool	listen_to_planning_scene = `true`,
		bool	show_scene_robot = `true`
	)

Definition at line 59 of file planning_scene_display.cpp.

moveit_rviz_plugin::PlanningSceneDisplay::~PlanningSceneDisplay ( ) [virtual]

Definition at line 157 of file planning_scene_display.cpp.

Member Function Documentation

void moveit_rviz_plugin::PlanningSceneDisplay::addBackgroundJob	(	const boost::function< void()> &	job,
		const std::string &	name
	)

Definition at line 204 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::addMainLoopJob ( const boost::function< void()> & job )

Definition at line 209 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::calculateOffsetPosition ( ) [protected]

Set the scene node's position, given the target frame and the planning frame.

Definition at line 587 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedAttachedBodyColor ( ) [private, slot]

Definition at line 274 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedOctreeColorMode ( ) [private, slot]

Definition at line 353 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedOctreeRenderMode ( ) [private, slot]

Definition at line 349 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedPlanningSceneTopic ( ) [private, slot]

Definition at line 339 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedRobotDescription ( ) [private, slot]

Definition at line 284 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedRobotSceneAlpha ( ) [private, slot]

Definition at line 330 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedSceneAlpha ( ) [private, slot]

Definition at line 325 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedSceneColor ( ) [private, slot]

Definition at line 279 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedSceneDisplayTime ( ) [private, slot]

Definition at line 345 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedSceneEnabled ( ) [private, slot]

Definition at line 363 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedSceneName ( ) [private, slot]

Definition at line 290 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::changedSceneRobotEnabled ( ) [private, slot]

Definition at line 357 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::clearJobs ( )

Definition at line 168 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::clearRobotModel ( ) [protected]

This function is used by loadRobotModel() and should only be called in the MainLoop You probably should not call this function directly

Definition at line 448 of file planning_scene_display.cpp.

planning_scene_monitor::PlanningSceneMonitorPtr moveit_rviz_plugin::PlanningSceneDisplay::createPlanningSceneMonitor ( ) [protected, virtual]

This function constructs a new planning scene. Probably this should be called in a background thread as it may take some time to complete its execution

Definition at line 440 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::executeMainLoopJobs ( ) [protected]

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 222 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::fixedFrameChanged ( ) [protected, virtual]

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 620 of file planning_scene_display.cpp.

const planning_scene_monitor::PlanningSceneMonitorPtr & moveit_rviz_plugin::PlanningSceneDisplay::getPlanningSceneMonitor ( )

Definition at line 248 of file planning_scene_display.cpp.

planning_scene_monitor::LockedPlanningSceneRO moveit_rviz_plugin::PlanningSceneDisplay::getPlanningSceneRO ( ) const

Definition at line 264 of file planning_scene_display.cpp.

planning_scene_monitor::LockedPlanningSceneRW moveit_rviz_plugin::PlanningSceneDisplay::getPlanningSceneRW ( )

Definition at line 269 of file planning_scene_display.cpp.

const robot_model::RobotModelConstPtr & moveit_rviz_plugin::PlanningSceneDisplay::getRobotModel ( ) const

Definition at line 253 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::load ( const rviz::Config & config ) [virtual]

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 574 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::loadRobotModel ( ) [protected]

This function reloads the robot model and reinitializes the PlanningSceneMonitor It can be called either from the Main Loop or from a Background thread

Definition at line 454 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::onDisable ( ) [protected, virtual]

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 536 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::onEnable ( ) [protected, virtual]

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 519 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::onInitialize ( ) [protected, virtual]

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 177 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::onRobotModelLoaded ( ) [protected, virtual]

This is an event called by loadRobotModel() in the MainLoop; do not call directly.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 486 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::onSceneMonitorReceivedUpdate ( planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type ) [protected, virtual]

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 510 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::queueRenderSceneGeometry ( )

Definition at line 549 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::renderPlanningScene ( ) [protected]

Definition at line 297 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::reset ( void ) [virtual]

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 191 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::save ( rviz::Config config ) const [virtual]

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 579 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::sceneMonitorReceivedUpdate ( planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type ) [protected]

Definition at line 505 of file planning_scene_display.cpp.