planning_scene_render.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
42 #include <rviz/helpers/color.h>
43 #include <OgreMaterial.h>
44 
45 namespace Ogre
46 {
47 class SceneNode;
48 }
49 
50 namespace rviz
51 {
52 class DisplayContext;
53 }
54 
55 namespace moveit_rviz_plugin
56 {
57 MOVEIT_CLASS_FORWARD(RobotStateVisualization); // Defines RobotStateVisualizationPtr, ConstPtr, WeakPtr... etc
58 MOVEIT_CLASS_FORWARD(RenderShapes); // Defines RenderShapesPtr, ConstPtr, WeakPtr... etc
59 MOVEIT_CLASS_FORWARD(PlanningSceneRender); // Defines PlanningSceneRenderPtr, ConstPtr, WeakPtr... etc
60 
62 {
63 public:
64  PlanningSceneRender(Ogre::SceneNode* root_node, rviz::DisplayContext* context,
65  const RobotStateVisualizationPtr& robot);
67 
68  Ogre::SceneNode* getGeometryNode()
69  {
71  }
72 
73  const RobotStateVisualizationPtr& getRobotVisualization()
74  {
75  return scene_robot_;
76  }
77 
78  void updateRobotPosition(const planning_scene::PlanningSceneConstPtr& scene);
79 
80  void renderPlanningScene(const planning_scene::PlanningSceneConstPtr& scene, const rviz::Color& default_scene_color,
81  const rviz::Color& default_attached_color, OctreeVoxelRenderMode voxel_render_mode,
82  OctreeVoxelColorMode voxel_color_mode, float default_scene_alpha);
83  void clear();
84 
85 private:
88  RenderShapesPtr render_shapes_;
89  RobotStateVisualizationPtr scene_robot_;
90 };
91 } // namespace moveit_rviz_plugin
moveit_rviz_plugin::PlanningSceneRender::getRobotVisualization
const RobotStateVisualizationPtr & getRobotVisualization()
Definition: planning_scene_render.h:73
Ogre
moveit_rviz_plugin::PlanningSceneRender::scene_robot_
RobotStateVisualizationPtr scene_robot_
Definition: planning_scene_render.h:89
moveit_rviz_plugin::MOVEIT_CLASS_FORWARD
MOVEIT_CLASS_FORWARD(RobotStateVisualization)
moveit_rviz_plugin::PlanningSceneRender::updateRobotPosition
void updateRobotPosition(const planning_scene::PlanningSceneConstPtr &scene)
Definition: planning_scene_render.cpp:91
color.h
moveit_rviz_plugin::PlanningSceneRender::renderPlanningScene
void renderPlanningScene(const planning_scene::PlanningSceneConstPtr &scene, const rviz::Color &default_scene_color, const rviz::Color &default_attached_color, OctreeVoxelRenderMode voxel_render_mode, OctreeVoxelColorMode voxel_color_mode, float default_scene_alpha)
Definition: planning_scene_render.cpp:106
moveit_rviz_plugin::OctreeVoxelRenderMode
OctreeVoxelRenderMode
Definition: octomap_render.h:52
rviz
moveit_rviz_plugin::PlanningSceneRender
Definition: planning_scene_render.h:61
rviz::DisplayContext
moveit_rviz_plugin::PlanningSceneRender::getGeometryNode
Ogre::SceneNode * getGeometryNode()
Definition: planning_scene_render.h:68
moveit_rviz_plugin::PlanningSceneRender::planning_scene_geometry_node_
Ogre::SceneNode * planning_scene_geometry_node_
Definition: planning_scene_render.h:86
moveit_rviz_plugin::PlanningSceneRender::context_
rviz::DisplayContext * context_
Definition: planning_scene_render.h:87
moveit_rviz_plugin
Definition: motion_planning_display.h:80
planning_scene.h
moveit_rviz_plugin::PlanningSceneRender::~PlanningSceneRender
~PlanningSceneRender()
Definition: planning_scene_render.cpp:86
class_forward.h
moveit_rviz_plugin::OctreeVoxelColorMode
OctreeVoxelColorMode
Definition: octomap_render.h:58
moveit_rviz_plugin::PlanningSceneRender::render_shapes_
RenderShapesPtr render_shapes_
Definition: planning_scene_render.h:88
render_shapes.h
moveit_rviz_plugin::PlanningSceneRender::PlanningSceneRender
PlanningSceneRender(Ogre::SceneNode *root_node, rviz::DisplayContext *context, const RobotStateVisualizationPtr &robot)
Definition: planning_scene_render.cpp:79
rviz::Color
moveit_rviz_plugin::PlanningSceneRender::clear
void clear()
Definition: planning_scene_render.cpp:101


visualization
Author(s): Ioan Sucan , Dave Coleman , Sachin Chitta
autogenerated on Sat Mar 15 2025 02:27:26