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30 #ifndef RVIZ_ROBOT_LINK_H
31 #define RVIZ_ROBOT_LINK_H
40 #include <OgreQuaternion.h>
42 #include <OgreMaterial.h>
43 #include <OgreSharedPtr.h>
47 #include <urdf_model/pose.h>
52 #include <OgrePrerequisites.h>
67 class QuaternionProperty;
69 class RobotLinkSelectionHandler;
92 const urdf::LinkConstSharedPtr& link,
93 const std::string& parent_joint_name,
100 virtual void setTransforms(
const Ogre::Vector3& visual_position,
101 const Ogre::Quaternion& visual_orientation,
102 const Ogre::Vector3& collision_position,
103 const Ogre::Quaternion& collision_orientation);
146 void setColor(
float red,
float green,
float blue);
192 const urdf::Geometry& geom,
193 const urdf::MaterialSharedPtr& material,
194 const urdf::Pose& origin,
195 Ogre::SceneNode* scene_node,
196 Ogre::Entity*& entity);
197 void addError(
const char* format, ...);
199 void createVisual(
const urdf::LinkConstSharedPtr& link);
203 urdf::MaterialConstSharedPtr material);
228 std::map<Ogre::SubEntity*, std::pair<Ogre::MaterialPtr, Ogre::MaterialPtr>>;
233 std::vector<Ogre::Entity*>
235 std::vector<Ogre::Entity*>
263 #endif // RVIZ_ROBOT_LINK_H
void expandDetails(bool expand)
void setParentProperty(Property *new_parent)
Ogre::SceneNode * getVisualNode() const
Ogre::SceneNode * visual_node_
The scene node the visual meshes are attached to.
void updateVisibility()
Update the visibility of the link elements: visual mesh, collision mesh, trail, and axes.
boost::shared_ptr< RobotLinkSelectionHandler > RobotLinkSelectionHandlerPtr
std::string name_
Name of this link.
bool setSelectable(bool selectable)
std::vector< std::string > child_joint_names_
bool getOnlyRenderDepth() const
RobotLinkSelectionHandlerPtr selection_handler_
std::vector< Ogre::Entity * > visual_meshes_
The entities representing the visual mesh of this link (if they exist)
void setMaterialMode(unsigned char mode_flags)
Ogre::MaterialPtr default_material_
virtual void hideSubProperties(bool hide)
void createCollision(const urdf::LinkConstSharedPtr &link)
unsigned char material_mode_flags_
const std::string & getGeometryErrors() const
const std::string & getParentJointName() const
void setToErrorMaterial()
virtual void setTransforms(const Ogre::Vector3 &visual_position, const Ogre::Quaternion &visual_orientation, const Ogre::Vector3 &collision_position, const Ogre::Quaternion &collision_orientation)
FloatProperty * alpha_property_
Property specialized to enforce floating point max/min.
Ogre::SceneNode * collision_node_
The scene node the collision meshes are attached to.
A single element of a property tree, with a name, value, description, and possibly children.
Property * axes_property_
float robot_alpha_
Alpha value from top-level robot alpha Property (set via setRobotAlpha()).
void setRenderQueueGroup(Ogre::uint8 group)
Property * getLinkProperty() const
void createVisual(const urdf::LinkConstSharedPtr &link)
Ogre::MaterialPtr getMaterialForLink(const urdf::LinkConstSharedPtr &link, urdf::MaterialConstSharedPtr material)
void useDetailProperty(bool use_detail)
void createEntityForGeometryElement(const urdf::LinkConstSharedPtr &link, const urdf::Geometry &geom, const urdf::MaterialSharedPtr &material, const urdf::Pose &origin, Ogre::SceneNode *scene_node, Ogre::Entity *&entity)
DisplayContext * context_
void setToNormalMaterial()
Ogre::MaterialPtr color_material_
Contains any data we need from a joint in the robot.
VectorProperty * position_property_
void setColor(float red, float green, float blue)
const std::string & getName() const
Pure-virtual base class for objects which give Display subclasses context in which to work.
std::string parent_joint_name_
QuaternionProperty * orientation_property_
An object that displays a set of X/Y/Z axes, with X=Red, Y=Green, Z=Blue.
Property * trail_property_
const std::vector< std::string > & getChildJointNames() const
RobotLink(Robot *robot, const urdf::LinkConstSharedPtr &link, const std::string &parent_joint_name, bool visual, bool collision)
M_SubEntityToMaterial materials_
Ogre::Quaternion getOrientation()
void addError(const char *format,...)
Contains any data we need from a link in the robot.
std::vector< Ogre::Entity * > collision_meshes_
The entities representing the collision mesh of this link (if they exist)
std::map< Ogre::SubEntity *, std::pair< Ogre::MaterialPtr, Ogre::MaterialPtr > > M_SubEntityToMaterial
Property * link_property_
virtual void setRobotAlpha(float a)
Ogre::SceneNode * getCollisionNode() const
void setOnlyRenderDepth(bool onlyRenderDepth)
std::string default_material_name_
Ogre::SceneManager * scene_manager_
Ogre::RibbonTrail * trail_
Ogre::Vector3 getPosition()
rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust, William Woodall
autogenerated on Fri Dec 13 2024 03:31:02