#include <robot.h>

Classes
class	LinkFactory
Public Types
enum	LinkTreeStyle { STYLE_LINK_LIST, STYLE_DEFAULT = STYLE_LINK_LIST, STYLE_JOINT_LIST, STYLE_LINK_TREE, STYLE_JOINT_LINK_TREE }
typedef std::map< std::string, RobotJoint * >	M_NameToJoint
typedef std::map< std::string, RobotLink * >	M_NameToLink
Public Member Functions
void	calculateJointCheckboxes ()
virtual void	clear ()
	Clears all data loaded from a URDF.
float	getAlpha ()
Ogre::SceneNode *	getCollisionNode ()
DisplayContext *	getDisplayContext ()
RobotJoint *	getJoint (const std::string &name)
const M_NameToJoint &	getJoints () const
RobotLink *	getLink (const std::string &name)
const M_NameToLink &	getLinks () const
Property *	getLinkTreeProperty ()
const std::string &	getName ()
virtual const Ogre::Quaternion &	getOrientation ()
Ogre::SceneNode *	getOtherNode ()
virtual const Ogre::Vector3 &	getPosition ()
RobotLink *	getRootLink ()
Ogre::SceneManager *	getSceneManager ()
Ogre::SceneNode *	getVisualNode ()
bool	isCollisionVisible ()
	Returns whether or not the collision representation is set to be visible To be visible this and isVisible() must both be true.
bool	isVisible ()
	Returns whether anything is visible.
bool	isVisualVisible ()
	Returns whether or not the visual representation is set to be visible To be visible this and isVisible() must both be true.
virtual void	load (const urdf::ModelInterface &urdf, bool visual=true, bool collision=true)
	Loads meshes/primitives from a robot description. Calls clear() before loading.
	Robot (Ogre::SceneNode root_node, DisplayContext context, const std::string &name, Property *parent_property)
void	setAlpha (float a)
void	setCollisionVisible (bool visible)
	Set whether the collision meshes/primitives of the robot should be visible.
void	setLinkFactory (LinkFactory *link_factory)
void	setLinkTreeStyle (LinkTreeStyle style)
virtual void	setOrientation (const Ogre::Quaternion &orientation)
virtual void	setPosition (const Ogre::Vector3 &position)
virtual void	setScale (const Ogre::Vector3 &scale)
virtual void	setVisible (bool visible)
	Set the robot as a whole to be visible or not.
void	setVisualVisible (bool visible)
	Set whether the visual meshes of the robot should be visible.
virtual void	update (const LinkUpdater &updater)
virtual	~Robot ()
Protected Member Functions
void	addJointToLinkTree (LinkTreeStyle style, Property parent, RobotJoint joint)
void	addLinkToLinkTree (LinkTreeStyle style, Property parent, RobotLink link)
void	initLinkTreeStyle ()
void	setEnableAllLinksCheckbox (QVariant val)
void	unparentLinkProperties ()
void	updateLinkVisibilities ()
	Call RobotLink::updateVisibility() on each link.
void	useDetailProperty (bool use_detail)
Static Protected Member Functions
static bool	styleIsTree (LinkTreeStyle style)
static bool	styleShowJoint (LinkTreeStyle style)
static bool	styleShowLink (LinkTreeStyle style)
Protected Attributes
float	alpha_
bool	collision_visible_
	Should we show the collision representation?
DisplayContext *	context_
bool	doing_set_checkbox_
BoolProperty *	enable_all_links_
BoolProperty *	expand_joint_details_
BoolProperty *	expand_link_details_
BoolProperty *	expand_tree_
bool	inChangedEnableAllLinks
M_NameToJoint	joints_
	Map of name to joint info, stores all loaded joints.
LinkFactory *	link_factory_
	factory for generating links and joints
Property *	link_tree_
EnumProperty *	link_tree_style_
M_NameToLink	links_
	Map of name to link info, stores all loaded links.
std::string	name_
bool	robot_loaded_
Ogre::SceneNode *	root_collision_node_
	Node all our collision nodes are children of.
RobotLink *	root_link_
Ogre::SceneNode *	root_other_node_
Ogre::SceneNode *	root_visual_node_
	Node all our visual nodes are children of.
Ogre::SceneManager *	scene_manager_
std::map< LinkTreeStyle, std::string >	style_name_map_
bool	visible_
	Should we show anything at all? (affects visual, collision, axes, and trails)
bool	visual_visible_
	Should we show the visual representation?
Private Slots
void	changedEnableAllLinks ()
void	changedExpandJointDetails ()
void	changedExpandLinkDetails ()
void	changedExpandTree ()
void	changedHideSubProperties ()
void	changedLinkTreeStyle ()

Detailed Description

A helper class to draw a representation of a robot, as specified by a URDF. Can display either the visual models of the robot, or the collision models.

Definition at line 89 of file robot.h.

Member Typedef Documentation

typedef std::map< std::string, RobotJoint* > rviz::Robot::M_NameToJoint

Definition at line 153 of file robot.h.

typedef std::map< std::string, RobotLink* > rviz::Robot::M_NameToLink

Definition at line 152 of file robot.h.

Member Enumeration Documentation

enum rviz::Robot::LinkTreeStyle

Enumerator:

STYLE_LINK_LIST
STYLE_DEFAULT
STYLE_JOINT_LIST
STYLE_LINK_TREE
STYLE_JOINT_LINK_TREE

Definition at line 196 of file robot.h.

Constructor & Destructor Documentation

Robot::Robot	(	Ogre::SceneNode *	root_node,
		DisplayContext *	context,
		const std::string &	name,
		Property *	parent_property
	)

Definition at line 57 of file robot.cpp.

Robot::~Robot ( ) [virtual]

Definition at line 119 of file robot.cpp.

Member Function Documentation

void Robot::addJointToLinkTree	(	LinkTreeStyle	style,
		Property *	parent,
		RobotJoint *	joint
	)		`[protected]`

Definition at line 635 of file robot.cpp.

void Robot::addLinkToLinkTree	(	LinkTreeStyle	style,
		Property *	parent,
		RobotLink *	link
	)		`[protected]`

used by setLinkTreeStyle() to recursively build link & joint tree.

Definition at line 614 of file robot.cpp.

void Robot::calculateJointCheckboxes ( )

Definition at line 675 of file robot.cpp.

void Robot::changedEnableAllLinks ( ) [private, slot]

Definition at line 436 of file robot.cpp.

void Robot::changedExpandJointDetails ( ) [private, slot]

Definition at line 424 of file robot.cpp.

void Robot::changedExpandLinkDetails ( ) [private, slot]

Definition at line 412 of file robot.cpp.

void Robot::changedExpandTree ( ) [private, slot]

Definition at line 368 of file robot.cpp.

void Robot::changedHideSubProperties ( ) [private, slot]

Definition at line 393 of file robot.cpp.

void Robot::changedLinkTreeStyle ( ) [private, slot]

Definition at line 526 of file robot.cpp.

void Robot::clear ( ) [virtual]

Clears all data loaded from a URDF.

Definition at line 207 of file robot.cpp.

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

Definition at line 146 of file robot.h.

Ogre::SceneNode* rviz::Robot::getCollisionNode ( ) [inline]

Definition at line 160 of file robot.h.

DisplayContext* rviz::Robot::getDisplayContext ( ) [inline]

Definition at line 163 of file robot.h.

RobotJoint * Robot::getJoint ( const std::string & name )

Definition at line 663 of file robot.cpp.

const M_NameToJoint& rviz::Robot::getJoints ( ) const [inline]

Definition at line 155 of file robot.h.

RobotLink * Robot::getLink ( const std::string & name )

Definition at line 651 of file robot.cpp.

const M_NameToLink& rviz::Robot::getLinks ( ) const [inline]

Definition at line 154 of file robot.h.

Property* rviz::Robot::getLinkTreeProperty ( ) [inline]

can be used to change the name, reparent, or add extra properties to the list of links

Definition at line 208 of file robot.h.

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

Definition at line 157 of file robot.h.

const Ogre::Quaternion & Robot::getOrientation ( ) [virtual]

Definition at line 818 of file robot.cpp.

Ogre::SceneNode* rviz::Robot::getOtherNode ( ) [inline]

Definition at line 161 of file robot.h.

const Ogre::Vector3 & Robot::getPosition ( ) [virtual]

Definition at line 813 of file robot.cpp.

RobotLink* rviz::Robot::getRootLink ( ) [inline]

Definition at line 148 of file robot.h.

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

Definition at line 162 of file robot.h.

Ogre::SceneNode* rviz::Robot::getVisualNode ( ) [inline]

Definition at line 159 of file robot.h.

void Robot::initLinkTreeStyle ( ) [protected]

initialize style_name_map_ and link_tree_style_ options

Definition at line 477 of file robot.cpp.

bool Robot::isCollisionVisible ( )

Returns whether or not the collision representation is set to be visible To be visible this and isVisible() must both be true.

Definition at line 188 of file robot.cpp.

bool Robot::isVisible ( )

Returns whether anything is visible.

Definition at line 178 of file robot.cpp.

bool Robot::isVisualVisible ( )

Returns whether or not the visual representation is set to be visible To be visible this and isVisible() must both be true.

Definition at line 183 of file robot.cpp.

void Robot::load	(	const urdf::ModelInterface &	urdf,
		bool	visual = `true`,
		bool	collision = `true`
	)		`[virtual]`

Loads meshes/primitives from a robot description. Calls clear() before loading.

Parameters:

urdf	The robot description to read from
visual	Whether or not to load the visual representation
collision	Whether or not to load the collision representation

Definition at line 254 of file robot.cpp.

void Robot::setAlpha ( float a )

Definition at line 193 of file robot.cpp.

void Robot::setCollisionVisible ( bool visible )

Set whether the collision meshes/primitives of the robot should be visible.

Parameters:

visible Whether the collision meshes/primitives should be visible

Definition at line 161 of file robot.cpp.

void Robot::setEnableAllLinksCheckbox ( QVariant val ) [protected]

Definition at line 468 of file robot.cpp.

void Robot::setLinkFactory ( LinkFactory * link_factory )

Call this before load() to subclass the RobotLink or RobotJoint class used in the link property. Example: class MyLinkFactory : public LinkFactory { ... // overload createLink() and/or createJoint() } ... robot->setLinkFactory(new MyLinkFactory());

Definition at line 129 of file robot.cpp.

void Robot::setLinkTreeStyle ( LinkTreeStyle style )

Set the style of the link property.

Definition at line 516 of file robot.cpp.

void Robot::setOrientation ( const Ogre::Quaternion & orientation ) [virtual]

Definition at line 801 of file robot.cpp.

void Robot::setPosition ( const Ogre::Vector3 & position ) [virtual]

Definition at line 795 of file robot.cpp.

void Robot::setScale ( const Ogre::Vector3 & scale ) [virtual]

Definition at line 807 of file robot.cpp.

void Robot::setVisible ( bool visible ) [virtual]

Set the robot as a whole to be visible or not.