CovarianceVisual consisting in a ellipse for position and 2D ellipses along the axis for orientation. More...

#include <covariance_visual.h>

Inheritance diagram for rviz::CovarianceVisual:

Public Types
enum	ShapeIndex { kRoll = 0, kPitch = 1, kYaw = 2, kYaw2D = 3, kNumOriShapes }

Public Member Functions
	CovarianceVisual (Ogre::SceneManager scene_manager, Ogre::SceneNode parent_node, bool is_local_rotation, bool is_visible=true, float pos_scale=1.0f, float ori_scale=0.1f, float ori_offset=0.1f)
	Constructor. More...

Ogre::SceneNode *	getOrientationSceneNode ()
	Get the root scene node of the orientation part of this covariance. More...

rviz::Shape *	getOrientationShape (ShapeIndex index)
	Get the shape used to display orientation covariance in an especific axis. More...

virtual const Ogre::Quaternion &	getPositionCovarianceOrientation ()

virtual const Ogre::Vector3 &	getPositionCovarianceScale ()

Ogre::SceneNode *	getPositionSceneNode ()
	Get the root scene node of the position part of this covariance. More...

rviz::Shape *	getPositionShape ()
	Get the shape used to display position covariance. More...

virtual void	setCovariance (const geometry_msgs::PoseWithCovariance &pose)
	Set the covariance. More...

void	setOrientation (const Ogre::Quaternion &orientation) override
	Sets orientation of the frame this covariance is attached. More...

void	setOrientationColor (const Ogre::ColourValue &color)

virtual void	setOrientationColor (float r, float g, float b, float a)
	Set the color of the orientation covariance. Values are in the range [0, 1]. More...

void	setOrientationColorToRGB (float a)

void	setOrientationOffset (float ori_offset)

void	setOrientationScale (float ori_scale)

virtual void	setOrientationVisible (bool visible)
	Sets visibility of the orientation part of this covariance. More...

void	setPosition (const Ogre::Vector3 &position) override
	Sets position of the frame this covariance is attached. More...

void	setPositionColor (const Ogre::ColourValue &color)

virtual void	setPositionColor (float r, float g, float b, float a)
	Set the color of the position covariance. Values are in the range [0, 1]. More...

void	setPositionScale (float pos_scale)

virtual void	setPositionVisible (bool visible)
	Sets visibility of the position part of this covariance. More...

virtual void	setRotatingFrame (bool use_rotating_frame)
	Sets which frame to attach the covariance of the orientation. More...

void	setScales (float pos_scale, float ori_scale)
	Set the position and orientation scales for this covariance. More...

void	setUserData (const Ogre::Any &data) override
	Sets user data on all ogre objects we own. More...

virtual void	setVisible (bool visible)
	Sets visibility of this covariance. More...

	~CovarianceVisual () override

Public Member Functions inherited from rviz::Object
	Object (Ogre::SceneManager *scene_manager)

virtual	~Object ()

Private Member Functions
const Ogre::Quaternion &	getOrientation () override
	Get the local orientation of this object. More...

const Ogre::Vector3 &	getPosition () override
	Get the local position of this object. More...

void	setColor (float, float, float, float) override
	Set the color of the object. Values are in the range [0, 1]. More...

void	setScale (const Ogre::Vector3 &) override
	Set the scale of the object. Always relative to the identity orientation of the object. More...

void	updateOrientation (const Eigen::Matrix6d &covariance, ShapeIndex index)

void	updateOrientationVisibility ()

void	updatePosition (const Eigen::Matrix6d &covariance)

Private Attributes
Ogre::Vector3	current_ori_scale_ [kNumOriShapes]

float	current_ori_scale_factor_

Ogre::SceneNode *	fixed_orientation_node_

bool	local_rotation_

Ogre::SceneNode *	orientation_offset_node_ [kNumOriShapes]

Ogre::SceneNode *	orientation_root_node_

rviz::Shape *	orientation_shape_ [kNumOriShapes]
	Cylinders used for the orientation covariance. More...

bool	orientation_visible_
	If the orientation component is visible. More...

bool	pose_2d_

Ogre::SceneNode *	position_node_

Ogre::SceneNode *	position_scale_node_

rviz::Shape *	position_shape_
	Ellipse used for the position covariance. More...

Ogre::SceneNode *	root_node_

Static Private Attributes
const static float	max_degrees = 89.0

Friends
class	CovarianceProperty

Additional Inherited Members
Protected Attributes inherited from rviz::Object
Ogre::SceneManager *	scene_manager_
	Ogre scene manager this object is part of. More...

Detailed Description

CovarianceVisual consisting in a ellipse for position and 2D ellipses along the axis for orientation.

Definition at line 68 of file covariance_visual.h.

Member Enumeration Documentation

◆ ShapeIndex

enum rviz::CovarianceVisual::ShapeIndex

Enumerator
kRoll
kPitch
kYaw
kYaw2D
kNumOriShapes

Definition at line 71 of file covariance_visual.h.

Constructor & Destructor Documentation

◆ CovarianceVisual()

rviz::CovarianceVisual::CovarianceVisual	(	Ogre::SceneManager *	scene_manager,
		Ogre::SceneNode *	parent_node,
		bool	is_local_rotation,
		bool	is_visible = `true`,
		float	pos_scale = `1.0f`,
		float	ori_scale = `0.1f`,
		float	ori_offset = `0.1f`
	)

Constructor.

Parameters

scene_manager	The scene manager to use to construct any necessary objects
parent_object	A rviz object that this covariance will be attached.
is_local_rotation	Initial attachment of the rotation part
is_visible	Initial visibility
pos_scale	Scale of the position covariance
ori_scale	Scale of the orientation covariance

Definition at line 224 of file covariance_visual.cpp.

◆ ~CovarianceVisual()

rviz::CovarianceVisual::~CovarianceVisual ( )

override

Definition at line 310 of file covariance_visual.cpp.

Member Function Documentation

◆ getOrientation()

const Ogre::Quaternion & rviz::CovarianceVisual::getOrientation ( )

overrideprivatevirtual

Get the local orientation of this object.

Returns: The orientation

Implements rviz::Object.

Definition at line 609 of file covariance_visual.cpp.

◆ getOrientationSceneNode()

Ogre::SceneNode* rviz::CovarianceVisual::getOrientationSceneNode ( )

inline

Get the root scene node of the orientation part of this covariance.

Returns: the root scene node of the orientation part of this covariance

Definition at line 155 of file covariance_visual.h.

◆ getOrientationShape()

rviz::Shape * rviz::CovarianceVisual::getOrientationShape ( ShapeIndex index )

Get the shape used to display orientation covariance in an especific axis.

Returns: the shape used to display orientation covariance in an especific axis

Definition at line 637 of file covariance_visual.cpp.

◆ getPosition()

const Ogre::Vector3 & rviz::CovarianceVisual::getPosition ( )

overrideprivatevirtual

Get the local position of this object.

Returns: The position

Implements rviz::Object.

Definition at line 604 of file covariance_visual.cpp.

◆ getPositionCovarianceOrientation()

const Ogre::Quaternion & rviz::CovarianceVisual::getPositionCovarianceOrientation ( )

virtual

Definition at line 564 of file covariance_visual.cpp.

◆ getPositionCovarianceScale()

const Ogre::Vector3 & rviz::CovarianceVisual::getPositionCovarianceScale ( )

virtual

Definition at line 559 of file covariance_visual.cpp.

◆ getPositionSceneNode()

Ogre::SceneNode* rviz::CovarianceVisual::getPositionSceneNode ( )

inline

Get the root scene node of the position part of this covariance.

Returns: the root scene node of the position part of this covariance

Definition at line 146 of file covariance_visual.h.

◆ getPositionShape()

rviz::Shape* rviz::CovarianceVisual::getPositionShape ( )

inline

Get the shape used to display position covariance.

Returns: the shape used to display position covariance

Definition at line 164 of file covariance_visual.h.

◆ setColor()

void rviz::CovarianceVisual::setColor	(	float	r,
		float	g,
		float	b,
		float	a
	)

inlineoverrideprivatevirtual

Set the color of the object. Values are in the range [0, 1].

Parameters

r	Red component
g	Green component
b	Blue component

Implements rviz::Object.

Definition at line 245 of file covariance_visual.h.

◆ setCovariance()

void rviz::CovarianceVisual::setCovariance ( const geometry_msgs::PoseWithCovariance & pose )

virtual

Set the covariance.

This effectively changes the orientation and scale of position and orientation covariance shapes

Definition at line 326 of file covariance_visual.cpp.

◆ setOrientation()

void rviz::CovarianceVisual::setOrientation ( const Ogre::Quaternion & orientation )

overridevirtual

Sets orientation of the frame this covariance is attached.

Implements rviz::Object.

Definition at line 619 of file covariance_visual.cpp.

◆ setOrientationColor() [1/2]

void rviz::CovarianceVisual::setOrientationColor ( const Ogre::ColourValue & color )

Definition at line 533 of file covariance_visual.cpp.

◆ setOrientationColor() [2/2]

void rviz::CovarianceVisual::setOrientationColor	(	float	r,
		float	g,
		float	b,
		float	a
	)

virtual

Set the color of the orientation covariance. Values are in the range [0, 1].

Parameters

r	Red component
g	Green component
b	Blue component

Definition at line 554 of file covariance_visual.cpp.

◆ setOrientationColorToRGB()

void rviz::CovarianceVisual::setOrientationColorToRGB ( float a )

Definition at line 541 of file covariance_visual.cpp.

◆ setOrientationOffset()

void rviz::CovarianceVisual::setOrientationOffset ( float ori_offset )

Definition at line 471 of file covariance_visual.cpp.

◆ setOrientationScale()

void rviz::CovarianceVisual::setOrientationScale ( float ori_scale )

Definition at line 495 of file covariance_visual.cpp.

◆ setOrientationVisible()

void rviz::CovarianceVisual::setOrientationVisible ( bool visible )

virtual

Sets visibility of the orientation part of this covariance.

Definition at line 589 of file covariance_visual.cpp.

◆ setPosition()

void rviz::CovarianceVisual::setPosition ( const Ogre::Vector3 & position )

overridevirtual

Sets position of the frame this covariance is attached.

Implements rviz::Object.

Definition at line 614 of file covariance_visual.cpp.

◆ setPositionColor() [1/2]

void rviz::CovarianceVisual::setPositionColor ( const Ogre::ColourValue & color )

Definition at line 528 of file covariance_visual.cpp.

◆ setPositionColor() [2/2]

void rviz::CovarianceVisual::setPositionColor	(	float	r,
		float	g,
		float	b,
		float	a
	)

virtual

Set the color of the position covariance. Values are in the range [0, 1].

Parameters

r	Red component
g	Green component
b	Blue component

Definition at line 549 of file covariance_visual.cpp.

◆ setPositionScale()

void rviz::CovarianceVisual::setPositionScale ( float pos_scale )

Definition at line 463 of file covariance_visual.cpp.

◆ setPositionVisible()

void rviz::CovarianceVisual::setPositionVisible ( bool visible )

virtual

Sets visibility of the position part of this covariance.

Definition at line 584 of file covariance_visual.cpp.

◆ setRotatingFrame()

void rviz::CovarianceVisual::setRotatingFrame ( bool use_rotating_frame )

virtual

Sets which frame to attach the covariance of the orientation.

Definition at line 624 of file covariance_visual.cpp.

◆ setScale()

void rviz::CovarianceVisual::setScale ( const Ogre::Vector3 & scale )

inlineoverrideprivatevirtual

Set the scale of the object. Always relative to the identity orientation of the object.

Parameters

Scale vector scale to set to.

Implements rviz::Object.

Definition at line 242 of file covariance_visual.h.

◆ setScales()

void rviz::CovarianceVisual::setScales	(	float	pos_scale,
		float	ori_scale
	)

Set the position and orientation scales for this covariance.

Parameters

pos_scale	Scale of the position covariance
ori_scale	Scale of the orientation covariance

Definition at line 457 of file covariance_visual.cpp.

◆ setUserData()

void rviz::CovarianceVisual::setUserData ( const Ogre::Any & data )

overridevirtual

Sets user data on all ogre objects we own.

Implements rviz::Object.

Definition at line 569 of file covariance_visual.cpp.

◆ setVisible()

void rviz::CovarianceVisual::setVisible ( bool visible )

virtual

Sets visibility of this covariance.

Convenience method that sets visibility of both position and orientation parts.

Definition at line 578 of file covariance_visual.cpp.

◆ updateOrientation()

void rviz::CovarianceVisual::updateOrientation	(	const Eigen::Matrix6d &	covariance,
		ShapeIndex	index
	)

private

Definition at line 390 of file covariance_visual.cpp.

◆ updateOrientationVisibility()

void rviz::CovarianceVisual::updateOrientationVisibility ( )

private

Definition at line 595 of file covariance_visual.cpp.

◆ updatePosition()

void rviz::CovarianceVisual::updatePosition ( const Eigen::Matrix6d & covariance )

private

Definition at line 366 of file covariance_visual.cpp.

Friends And Related Function Documentation

◆ CovarianceProperty

friend class CovarianceProperty

friend

Definition at line 252 of file covariance_visual.h.

Member Data Documentation

◆ current_ori_scale_

Ogre::Vector3 rviz::CovarianceVisual::current_ori_scale_[kNumOriShapes]

private

Definition at line 234 of file covariance_visual.h.

◆ current_ori_scale_factor_

float rviz::CovarianceVisual::current_ori_scale_factor_

private

Definition at line 235 of file covariance_visual.h.

◆ fixed_orientation_node_

Ogre::SceneNode* rviz::CovarianceVisual::fixed_orientation_node_

private

Definition at line 218 of file covariance_visual.h.

◆ local_rotation_

bool rviz::CovarianceVisual::local_rotation_

private

Definition at line 228 of file covariance_visual.h.

◆ max_degrees

const float rviz::CovarianceVisual::max_degrees = 89.0

staticprivate

Definition at line 237 of file covariance_visual.h.

◆ orientation_offset_node_

Ogre::SceneNode* rviz::CovarianceVisual::orientation_offset_node_[kNumOriShapes]

private

Definition at line 223 of file covariance_visual.h.

◆ orientation_root_node_

Ogre::SceneNode* rviz::CovarianceVisual::orientation_root_node_

private

Definition at line 222 of file covariance_visual.h.

◆ orientation_shape_

rviz::Shape* rviz::CovarianceVisual::orientation_shape_[kNumOriShapes]

private

Cylinders used for the orientation covariance.

Definition at line 226 of file covariance_visual.h.

◆ orientation_visible_

bool rviz::CovarianceVisual::orientation_visible_

private

If the orientation component is visible.

Definition at line 232 of file covariance_visual.h.

◆ pose_2d_

bool rviz::CovarianceVisual::pose_2d_

private

Definition at line 230 of file covariance_visual.h.

◆ position_node_

Ogre::SceneNode* rviz::CovarianceVisual::position_node_

private

Definition at line 220 of file covariance_visual.h.

◆ position_scale_node_

Ogre::SceneNode* rviz::CovarianceVisual::position_scale_node_

private

Definition at line 219 of file covariance_visual.h.

◆ position_shape_

rviz::Shape* rviz::CovarianceVisual::position_shape_

private

Ellipse used for the position covariance.

Definition at line 225 of file covariance_visual.h.

◆ root_node_

Ogre::SceneNode* rviz::CovarianceVisual::root_node_

private

Definition at line 217 of file covariance_visual.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ShapeIndex

Constructor & Destructor Documentation

◆ CovarianceVisual()

◆ ~CovarianceVisual()

Member Function Documentation

◆ getOrientation()

◆ getOrientationSceneNode()

◆ getOrientationShape()

◆ getPosition()

◆ getPositionCovarianceOrientation()

◆ getPositionCovarianceScale()

◆ getPositionSceneNode()

◆ getPositionShape()

◆ setColor()

◆ setCovariance()

◆ setOrientation()

◆ setOrientationColor() [1/2]

◆ setOrientationColor() [2/2]

◆ setOrientationColorToRGB()

◆ setOrientationOffset()

◆ setOrientationScale()

◆ setOrientationVisible()

◆ setPosition()

◆ setPositionColor() [1/2]

◆ setPositionColor() [2/2]

◆ setPositionScale()

◆ setPositionVisible()

◆ setRotatingFrame()

◆ setScale()

◆ setScales()

◆ setUserData()

◆ setVisible()

◆ updateOrientation()

◆ updateOrientationVisibility()

◆ updatePosition()

Friends And Related Function Documentation

◆ CovarianceProperty

Member Data Documentation

◆ current_ori_scale_

◆ current_ori_scale_factor_

◆ fixed_orientation_node_

◆ local_rotation_

◆ max_degrees

◆ orientation_offset_node_

◆ orientation_root_node_

◆ orientation_shape_

◆ orientation_visible_

◆ pose_2d_

◆ position_node_

◆ position_scale_node_

◆ position_shape_

◆ root_node_