Accumulates and displays the pose from a nav_msgs::Odometry message. More...

#include <odometry_display.h>

Inheritance diagram for rviz::OdometryDisplay:

[legend]

Public Types
enum	Shape { ArrowShape, AxesShape }

Public Types inherited from rviz::MessageFilterDisplay< nav_msgs::Odometry >
typedef MessageFilterDisplay< nav_msgs::Odometry >	MFDClass
	Convenience typedef so subclasses don't have to use the long templated class name to refer to their super class. More...

Public Member Functions
	OdometryDisplay ()

void	onInitialize () override
	Override this function to do subclass-specific initialization. More...

void	reset () override
	Called to tell the display to clear its state. More...

void	update (float wall_dt, float ros_dt) override
	Called periodically by the visualization manager. More...

	~OdometryDisplay () override

Public Member Functions inherited from rviz::MessageFilterDisplay< nav_msgs::Odometry >
	MessageFilterDisplay ()

void	onInitialize () override
	Override this function to do subclass-specific initialization. More...

void	reset () override
	Called to tell the display to clear its state. More...

void	setTopic (const QString &topic, const QString &) override
	Set the ROS topic to listen to for this display. More...

	~MessageFilterDisplay () override

Public Member Functions inherited from rviz::_RosTopicDisplay
	_RosTopicDisplay ()

Public Member Functions inherited from rviz::Display
virtual void	deleteStatus (const QString &name)
	Delete the status entry with the given name. This is thread-safe. More...

void	deleteStatusStd (const std::string &name)
	Delete the status entry with the given std::string name. This is thread-safe. More...

	Display ()

void	emitTimeSignal (ros::Time time)
	Emit a time signal that other Displays can synchronize to. More...

QWidget *	getAssociatedWidget () const
	Return the current associated widget, or NULL if there is none. More...

PanelDockWidget *	getAssociatedWidgetPanel ()
	Return the panel containing the associated widget, or NULL if there is none. More...

virtual QString	getClassId () const
	Return the class identifier which was used to create this instance. This version just returns whatever was set with setClassId(). More...

Ogre::SceneNode *	getSceneNode () const
	Return the Ogre::SceneNode holding all 3D scene elements shown by this Display. More...

QVariant	getViewData (int column, int role) const override
	Return data appropriate for the given column (0 or 1) and role for this Display. More...

Qt::ItemFlags	getViewFlags (int column) const override
	Return item flags appropriate for the given column (0 or 1) for this Display. More...

uint32_t	getVisibilityBits ()

void	initialize (DisplayContext *context)
	Main initialization, called after constructor, before load() or setEnabled(). More...

bool	isEnabled () const
	Return true if this Display is enabled, false if not. More...

void	load (const Config &config) override
	Load the settings for this display from the given Config node, which must be a map. More...

void	save (Config config) const override
	Write this display to the given Config node. More...

void	setAssociatedWidget (QWidget *widget)
	Associate the given widget with this Display. More...

virtual void	setClassId (const QString &class_id)
	Set the class identifier used to create this instance. Typically this will be set by the factory object which created it. More...

void	setFixedFrame (const QString &fixed_frame)
	Set the fixed frame in this display. More...

void	setName (const QString &name) override
	Overridden from Property to set associated widget title to the new name. More...

virtual void	setStatus (StatusProperty::Level level, const QString &name, const QString &text)
	Show status level and text. This is thread-safe. More...

void	setStatusStd (StatusProperty::Level level, const std::string &name, const std::string &text)
	Show status level and text, using a std::string. Convenience function which converts std::string to QString and calls setStatus(). This is thread-safe. More...

void	setVisibilityBits (uint32_t bits)

void	unsetVisibilityBits (uint32_t bits)

	~Display () override

Public Member Functions inherited from rviz::BoolProperty
	BoolProperty (const QString &name=QString(), bool default_value=false, const QString &description=QString(), Property parent=nullptr, const char changed_slot=nullptr, QObject *receiver=nullptr)

virtual bool	getBool () const

bool	getDisableChildren () override
	If true, the children of this property should set their ItemIsEnabled flag to false. More...

bool	getDisableChildrenIfFalse ()

void	setDisableChildrenIfFalse (bool disable)

	~BoolProperty () override

Public Member Functions inherited from rviz::Property
virtual void	addChild (Property *child, int index=-1)
	Add a child property. More...

Property *	childAt (int index) const
	Return the child Property with the given index, or NULL if the index is out of bounds or if the child at that index is not a Property. More...

virtual Property *	childAtUnchecked (int index) const
	Return the child Property with the given index, without checking whether the index is within bounds. More...

virtual void	collapse ()
	Collapse (hide the children of) this Property. More...

bool	contains (Property *possible_child) const
	Return true if the list of children includes possible_child, false if not. More...

virtual QWidget *	createEditor (QWidget *parent, const QStyleOptionViewItem &option)
	Create an editor widget to edit the value of this property. More...

virtual void	expand ()
	Expand (show the children of) this Property. More...

virtual QString	getDescription () const
	Return the description. More...

virtual bool	getHidden () const
	Return the hidden/shown state. True means hidden, false means visible. More...

virtual QIcon	getIcon () const

PropertyTreeModel *	getModel () const
	Return the model managing this Property and its childrent. More...

virtual QString	getName () const
	Return the name of this Property as a QString. More...

std::string	getNameStd () const
	Return the name of this Property as a std::string. More...

Property *	getParent () const
	Return the parent Property. More...

virtual bool	getReadOnly ()
	Return the read-only-ness of this property. More...

virtual QVariant	getValue () const
	Return the value of this Property as a QVariant. If the value has never been set, an invalid QVariant is returned. More...

void	hide ()
	Hide this Property in any PropertyTreeWidgets. More...

void	insertChildSorted (Property *child)
	Insert a child property, sorted by name. More...

bool	isAncestorOf (Property *possible_child) const
	Returns true if `this` is an ancestor of possible_child, meaning is the parent or parent of parent etc. More...

virtual void	moveChild (int from_index, int to_index)
	Move the child at from_index to to_index. More...

virtual int	numChildren () const
	Return the number of child objects (Property or otherwise). More...

virtual bool	paint (QPainter *painter, const QStyleOptionViewItem &option) const
	Hook to provide custom painting of the value data (right-hand column) in a subclass. More...

	Property (const QString &name=QString(), const QVariant default_value=QVariant(), const QString &description=QString(), Property parent=nullptr, const char changed_slot=nullptr, QObject *receiver=nullptr)
	Constructor. More...

virtual void	removeChildren (int start_index=0, int count=-1)
	Remove and delete some or all child Properties. Does not change the value of this Property. More...

int	rowNumberInParent () const
	Return the row number of this property within its parent, or -1 if it has no parent. More...

virtual void	setDescription (const QString &description)
	Set the description. More...

virtual void	setHidden (bool hidden)
	Hide or show this property in any PropertyTreeWidget viewing its parent. More...

virtual void	setIcon (const QIcon &icon)
	Set the icon to be displayed next to the property. More...

void	setModel (PropertyTreeModel *model)
	Set the model managing this Property and all its child properties, recursively. More...

void	setParent (Property *new_parent)
	Set parent property, without telling the parent. More...

virtual void	setReadOnly (bool read_only)
	Prevent or allow users to edit this property from a PropertyTreeWidget. More...

void	setShouldBeSaved (bool save)
	If save is true and getReadOnly() is false, shouldBeSaved will return true; otherwise false. Default is true. More...

virtual bool	setValue (const QVariant &new_value)
	Set the new value for this property. Returns true if the new value is different from the old value, false if same. More...

bool	shouldBeSaved () const
	Returns true if the property is not read-only AND has data worth saving. More...

void	show ()
	Show this Property in any PropertyTreeWidgets. More...

virtual Property *	subProp (const QString &sub_name)
	Return the first child Property with the given name, or the FailureProperty if no child has the name. More...

Property *	takeChild (Property *child)
	Remove a given child object and return a pointer to it. More...

virtual Property *	takeChildAt (int index)
	Take a child out of the child list, but don't destroy it. More...

	~Property () override
	Destructor. Removes this property from its parent's list of children. More...

Protected Member Functions
void	onEnable () override
	Overridden from MessageFilterDisplay to get Arrow/Axes visibility correct. More...

Protected Member Functions inherited from rviz::MessageFilterDisplay< nav_msgs::Odometry >
void	fixedFrameChanged () override
	Called by setFixedFrame(). Override to respond to changes to fixed_frame_. More...

void	incomingMessage (const typename nav_msgs::Odometry ::ConstPtr &msg)
	Incoming message callback. Checks if the message pointer is valid, increments messages_received_, then calls processMessage(). More...

void	onDisable () override
	Derived classes override this to do the actual work of disabling themselves. More...

void	onEnable () override
	Derived classes override this to do the actual work of enabling themselves. More...

virtual void	processMessage (const typename nav_msgs::Odometry ::ConstPtr &msg)=0
	Implement this to process the contents of a message. More...

virtual void	subscribe ()

virtual void	unsubscribe ()

void	updateTopic () override

Protected Member Functions inherited from rviz::Display
virtual void	clearStatuses ()
	Delete all status children. This is thread-safe. More...

bool	initialized () const
	Returns true if the display has been initialized. More...

Protected Member Functions inherited from rviz::Property
void	loadValue (const Config &config)
	Load the value of this property specifically, not including children. More...

Private Types
typedef std::deque< rviz::Arrow * >	D_Arrow

typedef std::deque< rviz::Axes * >	D_Axes

Private Slots
void	updateArrowsGeometry ()

void	updateAxisGeometry ()

void	updateColorAndAlpha ()

void	updateShapeChoice ()

void	updateShapeVisibility ()

Private Member Functions
void	clear ()

void	processMessage (const nav_msgs::Odometry::ConstPtr &message) override

void	updateGeometry (rviz::Arrow *arrow)

void	updateGeometry (rviz::Axes *axes)

Additional Inherited Members
Public Slots inherited from rviz::Display
virtual void	onEnableChanged ()

void	queueRender ()
	Convenience function which calls context_->queueRender(). More...

void	setEnabled (bool enabled)
	Enable or disable this Display. More...

void	setIcon (const QIcon &icon) override
	Set the Display's icon. More...

Public Slots inherited from rviz::BoolProperty
bool	setBool (bool value)

Signals inherited from rviz::Display
void	timeSignal (ros::Time time, QPrivateSignal)

Signals inherited from rviz::Property
void	aboutToChange ()
	Emitted by setValue() just before the value has changed. More...

void	changed ()
	Emitted by setValue() just after the value has changed. More...

void	childListChanged (Property *this_property)
	Emitted after insertions and deletions of child Properties. More...

Protected Slots inherited from rviz::_RosTopicDisplay
Protected Attributes inherited from rviz::MessageFilterDisplay< nav_msgs::Odometry >
uint32_t	messages_received_

message_filters::Subscriber< nav_msgs::Odometry >	sub_

tf2_ros::MessageFilter< nav_msgs::Odometry > *	tf_filter_

Protected Attributes inherited from rviz::_RosTopicDisplay
RosTopicProperty *	topic_property_

BoolProperty *	unreliable_property_

Protected Attributes inherited from rviz::Display
DisplayContext *	context_
	This DisplayContext pointer is the main connection a Display has into the rest of rviz. This is how the FrameManager is accessed, the SelectionManager, etc. When a Display subclass wants to signal that a new render should be done right away, call context_->queueRender(). More...

QString	fixed_frame_
	A convenience variable equal to context_->getFixedFrame(). More...

Ogre::SceneManager *	scene_manager_
	A convenience variable equal to context_->getSceneManager(). More...

Ogre::SceneNode *	scene_node_
	The Ogre::SceneNode to hold all 3D scene elements shown by this Display. More...

ros::NodeHandle	threaded_nh_
	A NodeHandle whose CallbackQueue is run from a different thread than the GUI. More...

ros::NodeHandle	update_nh_
	A NodeHandle whose CallbackQueue is run from the main GUI thread (the "update" thread). More...

Protected Attributes inherited from rviz::Property
bool	child_indexes_valid_
	True if row_number_within_parent_ of all children is valid, false if not. More...

QIcon	icon_

PropertyTreeModel *	model_
	Pointer to the PropertyTreeModel managing this property tree. More...

QVariant	value_
	This is the central property value. If you set it directly in a subclass, do so with care because many things depend on the aboutToChange() and changed() events emitted by setValue(). More...

Detailed Description

Accumulates and displays the pose from a nav_msgs::Odometry message.

Definition at line 61 of file odometry_display.h.

Member Typedef Documentation

◆ D_Arrow

typedef std::deque<rviz::Arrow*> rviz::OdometryDisplay::D_Arrow

private

Definition at line 98 of file odometry_display.h.

◆ D_Axes

typedef std::deque<rviz::Axes*> rviz::OdometryDisplay::D_Axes

private

Definition at line 99 of file odometry_display.h.

Member Enumeration Documentation

◆ Shape

enum rviz::OdometryDisplay::Shape

Enumerator
ArrowShape
AxesShape

Definition at line 65 of file odometry_display.h.

Constructor & Destructor Documentation

◆ OdometryDisplay()

rviz::OdometryDisplay::OdometryDisplay ( )

Definition at line 48 of file odometry_display.cpp.

◆ ~OdometryDisplay()

rviz::OdometryDisplay::~OdometryDisplay ( )

override

Definition at line 111 of file odometry_display.cpp.

Member Function Documentation

◆ clear()

void rviz::OdometryDisplay::clear ( )

private

Definition at line 131 of file odometry_display.cpp.

◆ onEnable()

void rviz::OdometryDisplay::onEnable ( )

overrideprotectedvirtual

Overridden from MessageFilterDisplay to get Arrow/Axes visibility correct.

Reimplemented from rviz::Display.

Definition at line 125 of file odometry_display.cpp.

◆ onInitialize()

void rviz::OdometryDisplay::onInitialize ( )

overridevirtual

Override this function to do subclass-specific initialization.

This is called after vis_manager_ and scene_manager_ are set, and before load() or setEnabled().

setName() may or may not have been called before this.

Reimplemented from rviz::Display.

Definition at line 119 of file odometry_display.cpp.

◆ processMessage()

void rviz::OdometryDisplay::processMessage ( const nav_msgs::Odometry::ConstPtr & message )

overrideprivate

Definition at line 257 of file odometry_display.cpp.

◆ reset()

void rviz::OdometryDisplay::reset ( )

overridevirtual

Called to tell the display to clear its state.

Reimplemented from rviz::Display.

Definition at line 377 of file odometry_display.cpp.

◆ update()

void rviz::OdometryDisplay::update	(	float	wall_dt,
		float	ros_dt
	)

overridevirtual

Called periodically by the visualization manager.

Parameters

wall_dt	Wall-clock time, in seconds, since the last time the update list was run through.
ros_dt	ROS time, in seconds, since the last time the update list was run through.

Reimplemented from rviz::Display.

Definition at line 355 of file odometry_display.cpp.

◆ updateArrowsGeometry

void rviz::OdometryDisplay::updateArrowsGeometry ( )

privateslot

Definition at line 176 of file odometry_display.cpp.

◆ updateAxisGeometry

void rviz::OdometryDisplay::updateAxisGeometry ( )

privateslot

Definition at line 187 of file odometry_display.cpp.

◆ updateColorAndAlpha

void rviz::OdometryDisplay::updateColorAndAlpha ( )

privateslot

Definition at line 158 of file odometry_display.cpp.

◆ updateGeometry() [1/2]

void rviz::OdometryDisplay::updateGeometry ( rviz::Arrow * arrow )

private

Definition at line 203 of file odometry_display.cpp.

◆ updateGeometry() [2/2]

void rviz::OdometryDisplay::updateGeometry ( rviz::Axes * axes )

private

Definition at line 198 of file odometry_display.cpp.

◆ updateShapeChoice

void rviz::OdometryDisplay::updateShapeChoice ( )

privateslot

Definition at line 209 of file odometry_display.cpp.

◆ updateShapeVisibility

void rviz::OdometryDisplay::updateShapeVisibility ( )

privateslot

Definition at line 228 of file odometry_display.cpp.

Member Data Documentation

◆ alpha_property_

rviz::FloatProperty* rviz::OdometryDisplay::alpha_property_

private

Definition at line 109 of file odometry_display.h.

◆ angle_tolerance_property_

rviz::FloatProperty* rviz::OdometryDisplay::angle_tolerance_property_

private

Definition at line 111 of file odometry_display.h.

◆ arrows_

D_Arrow rviz::OdometryDisplay::arrows_

private

Definition at line 101 of file odometry_display.h.

◆ axes_

D_Axes rviz::OdometryDisplay::axes_

private

Definition at line 102 of file odometry_display.h.

◆ axes_length_property_

rviz::FloatProperty* rviz::OdometryDisplay::axes_length_property_

private

Definition at line 119 of file odometry_display.h.

◆ axes_radius_property_

rviz::FloatProperty* rviz::OdometryDisplay::axes_radius_property_

private

Definition at line 120 of file odometry_display.h.

◆ color_property_

rviz::ColorProperty* rviz::OdometryDisplay::color_property_

private

Definition at line 108 of file odometry_display.h.

◆ covariance_property_

CovarianceProperty* rviz::OdometryDisplay::covariance_property_

private

Definition at line 122 of file odometry_display.h.

◆ head_length_property_

rviz::FloatProperty* rviz::OdometryDisplay::head_length_property_

private

Definition at line 115 of file odometry_display.h.

◆ head_radius_property_

rviz::FloatProperty* rviz::OdometryDisplay::head_radius_property_

private

Definition at line 114 of file odometry_display.h.

◆ keep_property_

rviz::IntProperty* rviz::OdometryDisplay::keep_property_

private

Definition at line 112 of file odometry_display.h.

◆ last_used_message_

nav_msgs::Odometry::ConstPtr rviz::OdometryDisplay::last_used_message_

private

Definition at line 104 of file odometry_display.h.

◆ position_tolerance_property_

rviz::FloatProperty* rviz::OdometryDisplay::position_tolerance_property_

private

Definition at line 110 of file odometry_display.h.

◆ shaft_length_property_

rviz::FloatProperty* rviz::OdometryDisplay::shaft_length_property_

private

Definition at line 117 of file odometry_display.h.

◆ shaft_radius_property_

rviz::FloatProperty* rviz::OdometryDisplay::shaft_radius_property_

private

Definition at line 116 of file odometry_display.h.

◆ shape_property_

rviz::EnumProperty* rviz::OdometryDisplay::shape_property_

private

Definition at line 106 of file odometry_display.h.

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

Private Attributes
rviz::FloatProperty *	alpha_property_

rviz::FloatProperty *	angle_tolerance_property_

D_Arrow	arrows_

D_Axes	axes_

rviz::FloatProperty *	axes_length_property_

rviz::FloatProperty *	axes_radius_property_

rviz::ColorProperty *	color_property_

CovarianceProperty *	covariance_property_

rviz::FloatProperty *	head_length_property_

rviz::FloatProperty *	head_radius_property_

rviz::IntProperty *	keep_property_

nav_msgs::Odometry::ConstPtr	last_used_message_

rviz::FloatProperty *	position_tolerance_property_

rviz::FloatProperty *	shaft_length_property_

rviz::FloatProperty *	shaft_radius_property_

rviz::EnumProperty *	shape_property_

Public Types

Public Member Functions

Protected Member Functions

Private Types

Private Slots

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ D_Arrow

◆ D_Axes

Member Enumeration Documentation

◆ Shape

Constructor & Destructor Documentation

◆ OdometryDisplay()

◆ ~OdometryDisplay()

Member Function Documentation

◆ clear()

◆ onEnable()

◆ onInitialize()

◆ processMessage()

◆ reset()

◆ update()

◆ updateArrowsGeometry

◆ updateAxisGeometry

◆ updateColorAndAlpha

◆ updateGeometry() [1/2]

◆ updateGeometry() [2/2]

◆ updateShapeChoice

◆ updateShapeVisibility

Member Data Documentation

◆ alpha_property_

◆ angle_tolerance_property_

◆ arrows_

◆ axes_

◆ axes_length_property_

◆ axes_radius_property_

◆ color_property_

◆ covariance_property_

◆ head_length_property_

◆ head_radius_property_

◆ keep_property_

◆ last_used_message_

◆ position_tolerance_property_

◆ shaft_length_property_

◆ shaft_radius_property_

◆ shape_property_