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rviz_plugin_render_tools
include
moveit
rviz_plugin_render_tools
render_shapes.h
Go to the documentation of this file.
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2012, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Ioan Sucan */
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#pragma once
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#include <
moveit/rviz_plugin_render_tools/octomap_render.h
>
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#include <
moveit/macros/class_forward.h
>
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#include <
geometric_shapes/shapes.h
>
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#include <
rviz/helpers/color.h
>
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#include <Eigen/Geometry>
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#include <memory>
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namespace
Ogre
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{
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class
SceneNode;
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}
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namespace
rviz
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{
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class
DisplayContext;
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class
Shape;
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}
// namespace rviz
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namespace
moveit_rviz_plugin
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{
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MOVEIT_CLASS_FORWARD
(OcTreeRender);
// Defines OcTreeRenderPtr, ConstPtr, WeakPtr... etc
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MOVEIT_CLASS_FORWARD
(RenderShapes);
// Defines RenderShapesPtr, ConstPtr, WeakPtr... etc
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class
RenderShapes
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{
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public
:
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RenderShapes
(
rviz::DisplayContext
* context);
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~RenderShapes
();
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void
renderShape
(Ogre::SceneNode* node,
const
shapes::Shape
*
s
,
const
Eigen::Isometry3d& p,
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OctreeVoxelRenderMode
octree_voxel_rendering,
OctreeVoxelColorMode
octree_color_mode,
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const
rviz::Color
& color,
float
alpha);
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void
updateShapeColors
(
float
r
,
float
g,
float
b,
float
a
);
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void
clear
();
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private
:
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rviz::DisplayContext
*
context_
;
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std::vector<std::unique_ptr<rviz::Shape> >
scene_shapes_
;
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std::vector<OcTreeRenderPtr>
octree_voxel_grids_
;
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};
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}
// namespace moveit_rviz_plugin
octomap_render.h
Ogre
s
XmlRpcServer s
r
r
moveit_rviz_plugin::RenderShapes::renderShape
void renderShape(Ogre::SceneNode *node, const shapes::Shape *s, const Eigen::Isometry3d &p, OctreeVoxelRenderMode octree_voxel_rendering, OctreeVoxelColorMode octree_color_mode, const rviz::Color &color, float alpha)
Definition:
render_shapes.cpp:107
moveit_rviz_plugin::RenderShapes::RenderShapes
RenderShapes(rviz::DisplayContext *context)
Definition:
render_shapes.cpp:92
moveit_rviz_plugin::MOVEIT_CLASS_FORWARD
MOVEIT_CLASS_FORWARD(RobotStateVisualization)
moveit_rviz_plugin::RenderShapes::scene_shapes_
std::vector< std::unique_ptr< rviz::Shape > > scene_shapes_
Definition:
render_shapes.h:77
shapes::Shape
color.h
a
list a
moveit_rviz_plugin::OctreeVoxelRenderMode
OctreeVoxelRenderMode
Definition:
octomap_render.h:52
moveit_rviz_plugin::RenderShapes::context_
rviz::DisplayContext * context_
Definition:
render_shapes.h:75
rviz
moveit_rviz_plugin::RenderShapes::octree_voxel_grids_
std::vector< OcTreeRenderPtr > octree_voxel_grids_
Definition:
render_shapes.h:78
shapes.h
rviz::DisplayContext
moveit_rviz_plugin::RenderShapes
Definition:
render_shapes.h:62
moveit_rviz_plugin
Definition:
motion_planning_display.h:80
moveit_rviz_plugin::RenderShapes::clear
void clear()
Definition:
render_shapes.cpp:101
class_forward.h
moveit_rviz_plugin::RenderShapes::~RenderShapes
~RenderShapes()
Definition:
render_shapes.cpp:96
moveit_rviz_plugin::RenderShapes::updateShapeColors
void updateShapeColors(float r, float g, float b, float a)
Definition:
render_shapes.cpp:238
moveit_rviz_plugin::OctreeVoxelColorMode
OctreeVoxelColorMode
Definition:
octomap_render.h:58
rviz::Color
visualization
Author(s): Ioan Sucan
, Dave Coleman
, Sachin Chitta
autogenerated on Sat Mar 15 2025 02:27:26