The Tesseract Ignition Vizualization class. More...

#include <tesseract_ignition_visualization.h>

Inheritance diagram for tesseract_visualization::TesseractIgnitionVisualization:

Public Types
using	ConstPtr = std::shared_ptr< const TesseractIgnitionVisualization >

using	Ptr = std::shared_ptr< TesseractIgnitionVisualization >

Public Types inherited from tesseract_visualization::Visualization
using	ConstPtr = std::shared_ptr< const Visualization >

using	Ptr = std::shared_ptr< Visualization >

Public Member Functions
void	clear (std::string ns="") override
	This is called at the start of the plotting for each iteration to clear previous iteration graphics if necessary. More...

bool	isConnected () const override
	Some plotters may require connecting to external software. More...

void	plotEnvironment (const tesseract_environment::Environment &env, std::string ns="") override
	Plot environment. More...

void	plotEnvironmentState (const tesseract_scene_graph::SceneState &state, std::string ns="") override
	Plot state of the environment. More...

void	plotMarker (const Marker &marker, std::string ns="") override
	Plot marker. More...

void	plotMarkers (const std::vector< std::shared_ptr< Marker >> &markers, std::string ns="") override
	Plot a vector of markers under a given namespace. More...

void	plotTrajectory (const tesseract_common::JointTrajectory &traj, const tesseract_scene_graph::StateSolver &state_solver, std::string ns="") override
	Plot a JointTrajectory. More...

	TesseractIgnitionVisualization ()

void	waitForConnection (long seconds=0) const override
	Wait for connection. More...

void	waitForInput (std::string message="Hit enter key to continue!") override
	Pause code and wait for enter key in terminal. More...

Public Member Functions inherited from tesseract_visualization::Visualization
Visualization &	operator= (const Visualization &)=default

Visualization &	operator= (Visualization &&)=default

	Visualization ()=default

	Visualization (const Visualization &)=default

	Visualization (Visualization &&)=default

virtual	~Visualization ()=default

Private Member Functions
void	sendSceneState (const tesseract_scene_graph::SceneState &scene_state)
	Helper function for sending state to visualization tool. More...

Private Attributes
gz::transport::Node::Publisher	deletion_pub_

EntityManager	entity_manager_

gz::transport::Node	node_

gz::transport::Node::Publisher	pose_pub_

gz::transport::Node::Publisher	scene_pub_

Detailed Description

The Tesseract Ignition Vizualization class.

Definition at line 43 of file tesseract_ignition_visualization.h.

Member Typedef Documentation

◆ ConstPtr

using tesseract_visualization::TesseractIgnitionVisualization::ConstPtr = std::shared_ptr<const TesseractIgnitionVisualization>

Definition at line 47 of file tesseract_ignition_visualization.h.

◆ Ptr

using tesseract_visualization::TesseractIgnitionVisualization::Ptr = std::shared_ptr<TesseractIgnitionVisualization>

Definition at line 46 of file tesseract_ignition_visualization.h.

Constructor & Destructor Documentation

◆ TesseractIgnitionVisualization()

tesseract_visualization::TesseractIgnitionVisualization::TesseractIgnitionVisualization ( )

Definition at line 65 of file tesseract_ignition_visualization.cpp.

Member Function Documentation

◆ clear()

void tesseract_visualization::TesseractIgnitionVisualization::clear ( std::string ns = "" )

overridevirtual

This is called at the start of the plotting for each iteration to clear previous iteration graphics if necessary.

Implements tesseract_visualization::Visualization.

Definition at line 346 of file tesseract_ignition_visualization.cpp.

◆ isConnected()

bool tesseract_visualization::TesseractIgnitionVisualization::isConnected ( ) const

overridevirtual

Some plotters may require connecting to external software.

Returns: True if connected, otherwise false

Implements tesseract_visualization::Visualization.

Definition at line 72 of file tesseract_ignition_visualization.cpp.

◆ plotEnvironment()

void tesseract_visualization::TesseractIgnitionVisualization::plotEnvironment	(	const tesseract_environment::Environment &	env,
		std::string	ns = `""`
	)

overridevirtual

Plot environment.

Parameters

env	The environment.

Implements tesseract_visualization::Visualization.

Definition at line 91 of file tesseract_ignition_visualization.cpp.

◆ plotEnvironmentState()

void tesseract_visualization::TesseractIgnitionVisualization::plotEnvironmentState	(	const tesseract_scene_graph::SceneState &	state,
		std::string	ns = `""`
	)

overridevirtual

Plot state of the environment.

Parameters

state The state of the environment.

Implements tesseract_visualization::Visualization.

Definition at line 98 of file tesseract_ignition_visualization.cpp.

◆ plotMarker()

void tesseract_visualization::TesseractIgnitionVisualization::plotMarker	(	const Marker &	marker,
		std::string	ns = `""`
	)

overridevirtual

Plot marker.

Parameters

marker	The marker to plot
ns	The namespace to plot the object under

Implements tesseract_visualization::Visualization.

Definition at line 207 of file tesseract_ignition_visualization.cpp.

◆ plotMarkers()

void tesseract_visualization::TesseractIgnitionVisualization::plotMarkers	(	const std::vector< std::shared_ptr< Marker >> &	markers,
		std::string	ns = `""`
	)

overridevirtual

Plot a vector of markers under a given namespace.

Parameters

markers	The markers to plot
ns	The namespace to plot the objects under

Implements tesseract_visualization::Visualization.

Definition at line 340 of file tesseract_ignition_visualization.cpp.

◆ plotTrajectory()

void tesseract_visualization::TesseractIgnitionVisualization::plotTrajectory	(	const tesseract_common::JointTrajectory &	traj,
		const tesseract_scene_graph::StateSolver &	state_solver,
		std::string	ns = `""`
	)