moveit_rviz_plugin::RobotStateVisualization Class Reference

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

#include <robot_state_visualization.h>

Public Member Functions
	RobotStateVisualization (Ogre::SceneNode *root_node, rviz_common::DisplayContext *context, const std::string &name, rviz_common::properties::Property *parent_property)
rviz_default_plugins::robot::Robot &	getRobot ()
void	load (const urdf::ModelInterface &descr, bool visual=true, bool collision=true)
void	clear ()
void	update (const moveit::core::RobotStateConstPtr &kinematic_state)
void	update (const moveit::core::RobotStateConstPtr &kinematic_state, const std_msgs::msg::ColorRGBA &default_attached_object_color)
void	update (const moveit::core::RobotStateConstPtr &kinematic_state, const std_msgs::msg::ColorRGBA &default_attached_object_color, const std::map< std::string, std_msgs::msg::ColorRGBA > &color_map)
void	updateKinematicState (const moveit::core::RobotStateConstPtr &kinematic_state)
void	setDefaultAttachedObjectColor (const std_msgs::msg::ColorRGBA &default_attached_object_color)
void	updateAttachedObjectColors (const std_msgs::msg::ColorRGBA &attached_object_color)
	update color of all attached object shapes More...
bool	isVisible () const
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	setCollisionVisible (bool visible)
	Set whether the collision meshes/primitives of the robot should be visible. More...
void	setAlpha (float alpha)

Detailed Description

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

Definition at line 50 of file robot_state_visualization.h.

Constructor & Destructor Documentation

RobotStateVisualization()

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

Definition at line 47 of file robot_state_visualization.cpp.

Member Function Documentation

clear()

void moveit_rviz_plugin::RobotStateVisualization::clear

(

)

Definition at line 75 of file robot_state_visualization.cpp.

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getRobot()

rviz_default_plugins::robot::Robot& moveit_rviz_plugin::RobotStateVisualization::getRobot ( )

inline

Definition at line 56 of file robot_state_visualization.h.

isVisible()

bool moveit_rviz_plugin::RobotStateVisualization::isVisible ( ) const

inline

Definition at line 75 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 64 of file robot_state_visualization.cpp.

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setAlpha()

void moveit_rviz_plugin::RobotStateVisualization::setAlpha

(

float

alpha

)

Definition at line 179 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 173 of file robot_state_visualization.cpp.

setDefaultAttachedObjectColor()

void moveit_rviz_plugin::RobotStateVisualization::setDefaultAttachedObjectColor

(

const std_msgs::msg::ColorRGBA &

default_attached_object_color

)

Definition at line 81 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 161 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 167 of file robot_state_visualization.cpp.

update() [1/3]

void moveit_rviz_plugin::RobotStateVisualization::update

(

const moveit::core::RobotStateConstPtr &

kinematic_state

)

Definition at line 92 of file robot_state_visualization.cpp.

update() [2/3]

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

Definition at line 97 of file robot_state_visualization.cpp.

update() [3/3]

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

Definition at line 103 of file robot_state_visualization.cpp.

updateAttachedObjectColors()

void moveit_rviz_plugin::RobotStateVisualization::updateAttachedObjectColors

(

const std_msgs::msg::ColorRGBA &

attached_object_color

)

update color of all attached object shapes

Definition at line 86 of file robot_state_visualization.cpp.

updateKinematicState()

void moveit_rviz_plugin::RobotStateVisualization::updateKinematicState

(

const moveit::core::RobotStateConstPtr &

kinematic_state

)

Definition at line 156 of file robot_state_visualization.cpp.

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

• moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
• moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp