Update the links of an rviz::Robot using a moveit::core::RobotState. More...

#include <robot_state_visualization.h>

Public Member Functions
void	clear ()

rviz::Robot &	getRobot ()

bool	isVisible () const

void	load (const urdf::ModelInterface &descr, bool visual=true, bool collision=true)

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

void	setAlpha (float alpha)

void	setCollisionVisible (bool visible)
	Set whether the collision meshes/primitives of the robot should be visible. More...

void	setDefaultAttachedObjectColor (const std_msgs::ColorRGBA &default_attached_object_color)

void	setVisible (bool visible)
	Set the robot as a whole to be visible or not. More...

void	setVisualVisible (bool visible)
	Set whether the visual meshes of the robot should be visible. More...

void	update (const moveit::core::RobotStateConstPtr &kinematic_state)

void	update (const moveit::core::RobotStateConstPtr &kinematic_state, const std_msgs::ColorRGBA &default_attached_object_color)

void	update (const moveit::core::RobotStateConstPtr &kinematic_state, const std_msgs::ColorRGBA &default_attached_object_color, const std::map< std::string, std_msgs::ColorRGBA > &color_map)

void	updateAttachedObjectColors (const std_msgs::ColorRGBA &attached_object_color)
	update color of all attached object shapes More...

void	updateKinematicState (const moveit::core::RobotStateConstPtr &kinematic_state)

Private Member Functions
void	updateHelper (const moveit::core::RobotStateConstPtr &kinematic_state, const std_msgs::ColorRGBA &default_attached_object_color, const std::map< std::string, std_msgs::ColorRGBA > *color_map)

Private Attributes
bool	collision_visible_

std_msgs::ColorRGBA	default_attached_object_color_

OctreeVoxelColorMode	octree_voxel_color_mode_

OctreeVoxelRenderMode	octree_voxel_render_mode_

RenderShapesPtr	render_shapes_

rviz::Robot	robot_

bool	visible_

bool	visual_visible_

Detailed Description

Update the links of an rviz::Robot using a moveit::core::RobotState.

Definition at line 82 of file robot_state_visualization.h.

Constructor & Destructor Documentation

◆ RobotStateVisualization()

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

Definition at line 77 of file robot_state_visualization.cpp.

Member Function Documentation

◆ clear()

void moveit_rviz_plugin::RobotStateVisualization::clear ( )

Definition at line 104 of file robot_state_visualization.cpp.

◆ getRobot()

rviz::Robot& moveit_rviz_plugin::RobotStateVisualization::getRobot ( )

inline

Definition at line 88 of file robot_state_visualization.h.

◆ isVisible()

bool moveit_rviz_plugin::RobotStateVisualization::isVisible ( ) const

inline

Definition at line 107 of file robot_state_visualization.h.

◆ load()

void moveit_rviz_plugin::RobotStateVisualization::load	(	const urdf::ModelInterface &	descr,
		bool	visual = `true`,
		bool	collision = `true`
	)

Definition at line 93 of file robot_state_visualization.cpp.

◆ setAlpha()

void moveit_rviz_plugin::RobotStateVisualization::setAlpha ( float alpha )

Definition at line 206 of file robot_state_visualization.cpp.

◆ setCollisionVisible()

void moveit_rviz_plugin::RobotStateVisualization::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 200 of file robot_state_visualization.cpp.

◆ setDefaultAttachedObjectColor()

void moveit_rviz_plugin::RobotStateVisualization::setDefaultAttachedObjectColor ( const std_msgs::ColorRGBA & default_attached_object_color )

Definition at line 110 of file robot_state_visualization.cpp.

◆ setVisible()

void moveit_rviz_plugin::RobotStateVisualization::setVisible ( bool visible )

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

Parameters

visible Should we be visible?

Definition at line 188 of file robot_state_visualization.cpp.

◆ setVisualVisible()

void moveit_rviz_plugin::RobotStateVisualization::setVisualVisible ( bool visible )

Set whether the visual meshes of the robot should be visible.

Parameters

visible Whether the visual meshes of the robot should be visible

Definition at line 194 of file robot_state_visualization.cpp.

◆ update() [1/3]

void moveit_rviz_plugin::RobotStateVisualization::update ( const moveit::core::RobotStateConstPtr & kinematic_state )

Definition at line 121 of file robot_state_visualization.cpp.

◆ update() [2/3]

void moveit_rviz_plugin::RobotStateVisualization::update	(	const moveit::core::RobotStateConstPtr &	kinematic_state,
		const std_msgs::ColorRGBA &	default_attached_object_color
	)

Definition at line 126 of file robot_state_visualization.cpp.

◆ update() [3/3]

void moveit_rviz_plugin::RobotStateVisualization::update	(	const moveit::core::RobotStateConstPtr &	kinematic_state,
		const std_msgs::ColorRGBA &	default_attached_object_color,
		const std::map< std::string, std_msgs::ColorRGBA > &	color_map
	)

Definition at line 132 of file robot_state_visualization.cpp.

◆ updateAttachedObjectColors()

void moveit_rviz_plugin::RobotStateVisualization::updateAttachedObjectColors ( const std_msgs::ColorRGBA & attached_object_color )

update color of all attached object shapes

Definition at line 115 of file robot_state_visualization.cpp.

◆ updateHelper()

void moveit_rviz_plugin::RobotStateVisualization::updateHelper	(	const moveit::core::RobotStateConstPtr &	kinematic_state,
		const std_msgs::ColorRGBA &	default_attached_object_color,
		const std::map< std::string, std_msgs::ColorRGBA > *	color_map
	)

private

Definition at line 139 of file robot_state_visualization.cpp.

◆ updateKinematicState()

void moveit_rviz_plugin::RobotStateVisualization::updateKinematicState ( const moveit::core::RobotStateConstPtr & kinematic_state )

Definition at line 183 of file robot_state_visualization.cpp.

Member Data Documentation

◆ collision_visible_

bool moveit_rviz_plugin::RobotStateVisualization::collision_visible_

private

Definition at line 144 of file robot_state_visualization.h.

◆ default_attached_object_color_

std_msgs::ColorRGBA moveit_rviz_plugin::RobotStateVisualization::default_attached_object_color_

private

Definition at line 138 of file robot_state_visualization.h.

◆ octree_voxel_color_mode_

OctreeVoxelColorMode moveit_rviz_plugin::RobotStateVisualization::octree_voxel_color_mode_

private

Definition at line 140 of file robot_state_visualization.h.

◆ octree_voxel_render_mode_

OctreeVoxelRenderMode moveit_rviz_plugin::RobotStateVisualization::octree_voxel_render_mode_

private

Definition at line 139 of file robot_state_visualization.h.

◆ render_shapes_

RenderShapesPtr moveit_rviz_plugin::RobotStateVisualization::render_shapes_

private

Definition at line 137 of file robot_state_visualization.h.

◆ robot_

rviz::Robot moveit_rviz_plugin::RobotStateVisualization::robot_

private

Definition at line 136 of file robot_state_visualization.h.

◆ visible_

bool moveit_rviz_plugin::RobotStateVisualization::visible_

private

Definition at line 142 of file robot_state_visualization.h.

◆ visual_visible_

bool moveit_rviz_plugin::RobotStateVisualization::visual_visible_

private

Definition at line 143 of file robot_state_visualization.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RobotStateVisualization()

Member Function Documentation

◆ clear()

◆ getRobot()

◆ isVisible()

◆ load()

◆ setAlpha()

◆ setCollisionVisible()

◆ setDefaultAttachedObjectColor()

◆ setVisible()

◆ setVisualVisible()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

◆ updateAttachedObjectColors()

◆ updateHelper()

◆ updateKinematicState()

Member Data Documentation

◆ collision_visible_

◆ default_attached_object_color_

◆ octree_voxel_color_mode_

◆ octree_voxel_render_mode_

◆ render_shapes_

◆ robot_

◆ visible_

◆ visual_visible_