Public Member Functions | Protected Member Functions | Protected Attributes | Private Slots
moveit_rviz_plugin::PlanningSceneDisplay Class Reference

#include <planning_scene_display.h>

Inheritance diagram for moveit_rviz_plugin::PlanningSceneDisplay:
Inheritance graph
[legend]

List of all members.

Public Member Functions

void addBackgroundJob (const boost::function< void()> &job, const std::string &name)
void addMainLoopJob (const boost::function< void()> &job)
 queue the execution of this function for the next time the main update() loop gets called
void clearJobs ()
 remove all queued jobs
const std::string getMoveGroupNS () const
const
planning_scene_monitor::PlanningSceneMonitorPtr & 
getPlanningSceneMonitor ()
planning_scene_monitor::LockedPlanningSceneRO getPlanningSceneRO () const
 get read-only access to planning scene
planning_scene_monitor::LockedPlanningSceneRW getPlanningSceneRW ()
 get write access to planning scene
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 spawnBackgroundJob (const boost::function< void()> &job)
void unsetLinkColor (const std::string &link_name)
virtual void update (float wall_dt, float ros_dt)
void waitForAllMainLoopJobs ()
bool waitForCurrentRobotState (const ros::Time &t=ros::Time::now())
 wait for robot state more recent than t
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::ColorPropertyattached_body_color_property_
moveit::tools::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::StringPropertymove_group_ns_property_
rviz::EnumPropertyoctree_coloring_property_
rviz::EnumPropertyoctree_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::RosTopicPropertyplanning_scene_topic_property_
rviz::FloatPropertyrobot_alpha_property_
rviz::Propertyrobot_category_
rviz::StringPropertyrobot_description_property_
boost::mutex robot_model_loading_lock_
rviz::FloatPropertyscene_alpha_property_
rviz::Propertyscene_category_
rviz::ColorPropertyscene_color_property_
rviz::FloatPropertyscene_display_time_property_
rviz::BoolPropertyscene_enabled_property_
rviz::StringPropertyscene_name_property_
rviz::BoolPropertyscene_robot_collision_enabled_property_
rviz::BoolPropertyscene_robot_visual_enabled_property_

Private Slots

void changedAttachedBodyColor ()
void changedMoveGroupNS ()
void changedOctreeColorMode ()
void changedOctreeRenderMode ()
void changedPlanningSceneTopic ()
void changedRobotDescription ()
void changedRobotSceneAlpha ()
void changedSceneAlpha ()
void changedSceneColor ()
void changedSceneDisplayTime ()
void changedSceneEnabled ()
void changedSceneName ()
void changedSceneRobotCollisionEnabled ()
void changedSceneRobotVisualEnabled ()

Detailed Description

Definition at line 68 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 65 of file planning_scene_display.cpp.

Definition at line 158 of file planning_scene_display.cpp.


Member Function Documentation

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

Queue this function call for execution within the background thread All jobs are queued and processed in order by a single background thread.

Definition at line 215 of file planning_scene_display.cpp.

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

queue the execution of this function for the next time the main update() loop gets called

Definition at line 225 of file planning_scene_display.cpp.

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

Definition at line 648 of file planning_scene_display.cpp.

Definition at line 302 of file planning_scene_display.cpp.

Definition at line 312 of file planning_scene_display.cpp.

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Definition at line 396 of file planning_scene_display.cpp.

remove all queued jobs

Definition at line 170 of file planning_scene_display.cpp.

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 498 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 491 of file planning_scene_display.cpp.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 238 of file planning_scene_display.cpp.

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 662 of file planning_scene_display.cpp.

Definition at line 269 of file planning_scene_display.cpp.

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

Definition at line 264 of file planning_scene_display.cpp.

get read-only access to planning scene

Definition at line 292 of file planning_scene_display.cpp.

get write access to planning scene

Definition at line 297 of file planning_scene_display.cpp.

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

Definition at line 274 of file planning_scene_display.cpp.

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 635 of file planning_scene_display.cpp.

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 505 of file planning_scene_display.cpp.

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 596 of file planning_scene_display.cpp.

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 575 of file planning_scene_display.cpp.

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 179 of file planning_scene_display.cpp.

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

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 538 of file planning_scene_display.cpp.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 564 of file planning_scene_display.cpp.

Definition at line 609 of file planning_scene_display.cpp.

Definition at line 331 of file planning_scene_display.cpp.

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 198 of file planning_scene_display.cpp.

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 640 of file planning_scene_display.cpp.

Definition at line 558 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::setGroupColor ( rviz::Robot robot,
const std::string &  group_name,
const QColor &  color 
) [protected]

Definition at line 420 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::setLinkColor ( const std::string &  link_name,
const QColor &  color 
)

Definition at line 458 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::setLinkColor ( rviz::Robot robot,
const std::string &  link_name,
const QColor &  color 
) [protected]

Definition at line 470 of file planning_scene_display.cpp.

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

Directly spawn a (detached) background thread for execution of this function call Should be used, when order of processing is not relevant / job can run in parallel. Must be used, when job will be blocking. Using addBackgroundJob() in this case will block other queued jobs as well

Definition at line 220 of file planning_scene_display.cpp.

Definition at line 434 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::unsetGroupColor ( rviz::Robot robot,
const std::string &  group_name 
) [protected]

Definition at line 444 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::unsetLinkColor ( const std::string &  link_name)

Definition at line 464 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::unsetLinkColor ( rviz::Robot robot,
const std::string &  link_name 
) [protected]

Definition at line 479 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::update ( float  wall_dt,
float  ros_dt 
) [virtual]

Reimplemented from rviz::Display.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 614 of file planning_scene_display.cpp.

void moveit_rviz_plugin::PlanningSceneDisplay::updateInternal ( float  wall_dt,
float  ros_dt 
) [protected, virtual]

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 624 of file planning_scene_display.cpp.

Definition at line 231 of file planning_scene_display.cpp.

wait for robot state more recent than t

Definition at line 285 of file planning_scene_display.cpp.


Member Data Documentation

Definition at line 207 of file planning_scene_display.h.

Definition at line 180 of file planning_scene_display.h.

Definition at line 192 of file planning_scene_display.h.

std::deque<boost::function<void()> > moveit_rviz_plugin::PlanningSceneDisplay::main_loop_jobs_ [protected]

Definition at line 181 of file planning_scene_display.h.

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planning_scene_monitor::PlanningSceneMonitorPtr moveit_rviz_plugin::PlanningSceneDisplay::planning_scene_monitor_ [protected]

Definition at line 176 of file planning_scene_display.h.

Definition at line 191 of file planning_scene_display.h.

displays planning scene with everything in it

Definition at line 185 of file planning_scene_display.h.

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


visualization
Author(s): Ioan Sucan , Dave Coleman , Sachin Chitta
autogenerated on Wed Jun 19 2019 19:25:00