#include <planning_scene_display.hpp>

Inheritance diagram for moveit_rviz_plugin::PlanningSceneDisplay:

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Collaboration diagram for moveit_rviz_plugin::PlanningSceneDisplay:

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Public Member Functions
	PlanningSceneDisplay (bool listen_to_planning_scene=true, bool show_scene_robot=true)

	~PlanningSceneDisplay () override

void	load (const rviz_common::Config &config) override

void	save (rviz_common::Config config) const override

void	update (float wall_dt, float ros_dt) override

void	reset () override

void	setLinkColor (const std::string &link_name, const QColor &color)

void	unsetLinkColor (const std::string &link_name)

void	queueRenderSceneGeometry ()

void	addBackgroundJob (const std::function< void()> &job, const std::string &name)

void	spawnBackgroundJob (const std::function< void()> &job)

void	addMainLoopJob (const std::function< void()> &job)
	queue the execution of this function for the next time the main update() loop gets called

void	waitForAllMainLoopJobs ()

void	clearJobs ()
	remove all queued jobs

const std::string	getMoveGroupNS () const

const moveit::core::RobotModelConstPtr &	getRobotModel () const

bool	waitForCurrentRobotState (const rclcpp::Time &t)
	wait for robot state more recent than t

planning_scene_monitor::LockedPlanningSceneRO	getPlanningSceneRO () const
	get read-only access to planning scene

planning_scene_monitor::LockedPlanningSceneRW	getPlanningSceneRW ()
	get write access to planning scene

const planning_scene_monitor::PlanningSceneMonitorPtr &	getPlanningSceneMonitor ()

Protected Slots
virtual void	changedAttachedBodyColor ()

Protected Member Functions
void	loadRobotModel ()

virtual void	clearRobotModel ()

virtual planning_scene_monitor::PlanningSceneMonitorPtr	createPlanningSceneMonitor ()

virtual void	onRobotModelLoaded ()
	This is an event called by loadRobotModel() in the MainLoop; do not call directly.

virtual void	onNewPlanningSceneState ()
	This is called upon successful retrieval of the (initial) planning scene state.

void	calculateOffsetPosition ()
	Set the scene node's position, given the target frame and the planning frame.

void	executeMainLoopJobs ()

void	sceneMonitorReceivedUpdate (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)

void	renderPlanningScene ()

void	setLinkColor (rviz_default_plugins::robot::Robot *robot, const std::string &link_name, const QColor &color)

void	unsetLinkColor (rviz_default_plugins::robot::Robot *robot, const std::string &link_name)

void	setGroupColor (rviz_default_plugins::robot::Robot *robot, const std::string &group_name, const QColor &color)

void	unsetGroupColor (rviz_default_plugins::robot::Robot *robot, const std::string &group_name)

void	unsetAllColors (rviz_default_plugins::robot::Robot *robot)

void	onInitialize () override

void	onEnable () override

void	onDisable () override

void	fixedFrameChanged () override

virtual void	updateInternal (std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt)

virtual void	updateInternal (double wall_dt, double ros_dt)

virtual void	onSceneMonitorReceivedUpdate (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)

Protected Attributes
planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor_

std::mutex	robot_model_loading_lock_

moveit::tools::BackgroundProcessing	background_process_

std::deque< std::function< void()> >	main_loop_jobs_

std::mutex	main_loop_jobs_lock_

std::condition_variable	main_loop_jobs_empty_condition_

Ogre::SceneNode *	planning_scene_node_
	displays planning scene with everything in it

RobotStateVisualizationPtr	planning_scene_robot_

PlanningSceneRenderPtr	planning_scene_render_

bool	planning_scene_needs_render_

bool	robot_state_needs_render_

double	current_scene_time_

rviz_common::properties::Property *	scene_category_

rviz_common::properties::Property *	robot_category_

rviz_common::properties::StringProperty *	move_group_ns_property_

rviz_common::properties::StringProperty *	robot_description_property_

rviz_common::properties::StringProperty *	scene_name_property_

rviz_common::properties::BoolProperty *	scene_enabled_property_

rviz_common::properties::BoolProperty *	scene_robot_visual_enabled_property_

rviz_common::properties::BoolProperty *	scene_robot_collision_enabled_property_

rviz_common::properties::RosTopicProperty *	planning_scene_topic_property_

rviz_common::properties::FloatProperty *	robot_alpha_property_

rviz_common::properties::FloatProperty *	scene_alpha_property_

rviz_common::properties::ColorProperty *	scene_color_property_

rviz_common::properties::ColorProperty *	attached_body_color_property_

rviz_common::properties::FloatProperty *	scene_display_time_property_

rviz_common::properties::EnumProperty *	octree_render_property_

rviz_common::properties::EnumProperty *	octree_coloring_property_

rclcpp::Node::SharedPtr	node_

rclcpp::Logger	logger_

Detailed Description

Definition at line 75 of file planning_scene_display.hpp.

Constructor & Destructor Documentation

◆ PlanningSceneDisplay()

moveit_rviz_plugin::PlanningSceneDisplay::PlanningSceneDisplay	(	bool	listen_to_planning_scene = `true`,
		bool	show_scene_robot = `true`
	)

Definition at line 74 of file planning_scene_display.cpp.

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◆ ~PlanningSceneDisplay()

moveit_rviz_plugin::PlanningSceneDisplay::~PlanningSceneDisplay ( )

override

Definition at line 185 of file planning_scene_display.cpp.

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Member Function Documentation

◆ addBackgroundJob()

void moveit_rviz_plugin::PlanningSceneDisplay::addBackgroundJob	(	const std::function< void()> &	job,
		const std::string &	name
	)

Queue this function call for execution within the background thread All jobs are queued and processed in order by a single background thread.

Definition at line 249 of file planning_scene_display.cpp.

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◆ addMainLoopJob()

void moveit_rviz_plugin::PlanningSceneDisplay::addMainLoopJob ( const std::function< void()> & job )

queue the execution of this function for the next time the main update() loop gets called

Definition at line 260 of file planning_scene_display.cpp.

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◆ calculateOffsetPosition()

void moveit_rviz_plugin::PlanningSceneDisplay::calculateOffsetPosition ( )

protected

Set the scene node's position, given the target frame and the planning frame.

Definition at line 732 of file planning_scene_display.cpp.

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◆ changedAttachedBodyColor

void moveit_rviz_plugin::PlanningSceneDisplay::changedAttachedBodyColor ( )

protectedvirtualslot

Definition at line 335 of file planning_scene_display.cpp.

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◆ clearJobs()

void moveit_rviz_plugin::PlanningSceneDisplay::clearJobs ( )

remove all queued jobs

Definition at line 196 of file planning_scene_display.cpp.

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◆ clearRobotModel()

void moveit_rviz_plugin::PlanningSceneDisplay::clearRobotModel ( )

protectedvirtual

This function is used by loadRobotModel() and should only be called in the MainLoop You probably should not call this function directly

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 547 of file planning_scene_display.cpp.

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◆ createPlanningSceneMonitor()

planning_scene_monitor::PlanningSceneMonitorPtr moveit_rviz_plugin::PlanningSceneDisplay::createPlanningSceneMonitor ( )

protectedvirtual

This function constructs a new planning scene. Probably this should be called in a background thread as it may take some time to complete its execution

Definition at line 540 of file planning_scene_display.cpp.

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◆ executeMainLoopJobs()

void moveit_rviz_plugin::PlanningSceneDisplay::executeMainLoopJobs ( )

protected

Definition at line 273 of file planning_scene_display.cpp.

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◆ fixedFrameChanged()

void moveit_rviz_plugin::PlanningSceneDisplay::fixedFrameChanged ( )

overrideprotected

Definition at line 747 of file planning_scene_display.cpp.

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◆ getMoveGroupNS()

const std::string moveit_rviz_plugin::PlanningSceneDisplay::getMoveGroupNS ( ) const

Definition at line 300 of file planning_scene_display.cpp.

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◆ getPlanningSceneMonitor()

const planning_scene_monitor::PlanningSceneMonitorPtr & moveit_rviz_plugin::PlanningSceneDisplay::getPlanningSceneMonitor ( )

Definition at line 295 of file planning_scene_display.cpp.

◆ getPlanningSceneRO()

planning_scene_monitor::LockedPlanningSceneRO moveit_rviz_plugin::PlanningSceneDisplay::getPlanningSceneRO ( ) const

get read-only access to planning scene

Definition at line 325 of file planning_scene_display.cpp.

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◆ getPlanningSceneRW()

planning_scene_monitor::LockedPlanningSceneRW moveit_rviz_plugin::PlanningSceneDisplay::getPlanningSceneRW ( )

get write access to planning scene

Definition at line 330 of file planning_scene_display.cpp.

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◆ getRobotModel()

const moveit::core::RobotModelConstPtr & moveit_rviz_plugin::PlanningSceneDisplay::getRobotModel ( ) const

Definition at line 305 of file planning_scene_display.cpp.

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◆ load()

void moveit_rviz_plugin::PlanningSceneDisplay::load ( const rviz_common::Config & config )

override

Definition at line 719 of file planning_scene_display.cpp.

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◆ loadRobotModel()

void moveit_rviz_plugin::PlanningSceneDisplay::loadRobotModel ( )

protected

This function reloads the robot model and reinitializes the PlanningSceneMonitor It can be called either from the Main Loop or from a Background thread

Definition at line 554 of file planning_scene_display.cpp.

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◆ onDisable()

void moveit_rviz_plugin::PlanningSceneDisplay::onDisable ( )

overrideprotected

Definition at line 654 of file planning_scene_display.cpp.

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◆ onEnable()

void moveit_rviz_plugin::PlanningSceneDisplay::onEnable ( )

overrideprotected

Definition at line 632 of file planning_scene_display.cpp.

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◆ onInitialize()

void moveit_rviz_plugin::PlanningSceneDisplay::onInitialize ( )

overrideprotected

Definition at line 205 of file planning_scene_display.cpp.

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◆ onNewPlanningSceneState()

void moveit_rviz_plugin::PlanningSceneDisplay::onNewPlanningSceneState ( )

protectedvirtual

This is called upon successful retrieval of the (initial) planning scene state.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 608 of file planning_scene_display.cpp.

◆ onRobotModelLoaded()

void moveit_rviz_plugin::PlanningSceneDisplay::onRobotModelLoaded ( )

protectedvirtual

This is an event called by loadRobotModel() in the MainLoop; do not call directly.

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 586 of file planning_scene_display.cpp.

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◆ onSceneMonitorReceivedUpdate()

void moveit_rviz_plugin::PlanningSceneDisplay::onSceneMonitorReceivedUpdate ( planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type )

protectedvirtual

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 618 of file planning_scene_display.cpp.

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◆ queueRenderSceneGeometry()

void moveit_rviz_plugin::PlanningSceneDisplay::queueRenderSceneGeometry ( )

Definition at line 667 of file planning_scene_display.cpp.

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◆ renderPlanningScene()

void moveit_rviz_plugin::PlanningSceneDisplay::renderPlanningScene ( )

protected

Definition at line 364 of file planning_scene_display.cpp.

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◆ reset()

void moveit_rviz_plugin::PlanningSceneDisplay::reset ( )

override

Definition at line 232 of file planning_scene_display.cpp.

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◆ save()

void moveit_rviz_plugin::PlanningSceneDisplay::save ( rviz_common::Config config ) const

override

Definition at line 724 of file planning_scene_display.cpp.

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◆ sceneMonitorReceivedUpdate()

void moveit_rviz_plugin::PlanningSceneDisplay::sceneMonitorReceivedUpdate ( planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type )

protected

Definition at line 612 of file planning_scene_display.cpp.

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◆ setGroupColor()

void moveit_rviz_plugin::PlanningSceneDisplay::setGroupColor	(	rviz_default_plugins::robot::Robot *	robot,
		const std::string &	group_name,
		const QColor &	color
	)

protected

Definition at line 468 of file planning_scene_display.cpp.

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◆ setLinkColor() [1/2]

void moveit_rviz_plugin::PlanningSceneDisplay::setLinkColor	(	const std::string &	link_name,
		const QColor &	color
	)

Definition at line 507 of file planning_scene_display.cpp.

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◆ setLinkColor() [2/2]

void moveit_rviz_plugin::PlanningSceneDisplay::setLinkColor	(	rviz_default_plugins::robot::Robot *	robot,
		const std::string &	link_name,
		const QColor &	color
	)

protected

Definition at line 519 of file planning_scene_display.cpp.

◆ spawnBackgroundJob()

void moveit_rviz_plugin::PlanningSceneDisplay::spawnBackgroundJob ( const std::function< void()> & job )

Directly spawn a (detached) background thread for execution of this function call Should be used, when order of processing is not relevant / job can run in parallel. Must be used, when job will be blocking. Using addBackgroundJob() in this case will block other queued jobs as well

Definition at line 254 of file planning_scene_display.cpp.

◆ unsetAllColors()

void moveit_rviz_plugin::PlanningSceneDisplay::unsetAllColors ( rviz_default_plugins::robot::Robot * robot )

protected

Definition at line 483 of file planning_scene_display.cpp.

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◆ unsetGroupColor()

void moveit_rviz_plugin::PlanningSceneDisplay::unsetGroupColor	(	rviz_default_plugins::robot::Robot *	robot,
		const std::string &	group_name
	)

protected

Definition at line 493 of file planning_scene_display.cpp.

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◆ unsetLinkColor() [1/2]

void moveit_rviz_plugin::PlanningSceneDisplay::unsetLinkColor ( const std::string & link_name )

Definition at line 513 of file planning_scene_display.cpp.

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◆ unsetLinkColor() [2/2]

void moveit_rviz_plugin::PlanningSceneDisplay::unsetLinkColor	(	rviz_default_plugins::robot::Robot *	robot,
		const std::string &	link_name
	)

protected

Definition at line 529 of file planning_scene_display.cpp.

◆ update()

void moveit_rviz_plugin::PlanningSceneDisplay::update	(	float	wall_dt,
		float	ros_dt
	)

override

Definition at line 687 of file planning_scene_display.cpp.

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◆ updateInternal() [1/2]

void moveit_rviz_plugin::PlanningSceneDisplay::updateInternal	(	double	wall_dt,
		double	ros_dt
	)

protectedvirtual

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 714 of file planning_scene_display.cpp.

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◆ updateInternal() [2/2]

void moveit_rviz_plugin::PlanningSceneDisplay::updateInternal	(	std::chrono::nanoseconds	wall_dt,
		std::chrono::nanoseconds	ros_dt
	)

protectedvirtual

Reimplemented in moveit_rviz_plugin::MotionPlanningDisplay.

Definition at line 700 of file planning_scene_display.cpp.

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◆ waitForAllMainLoopJobs()

void moveit_rviz_plugin::PlanningSceneDisplay::waitForAllMainLoopJobs ( )

Definition at line 266 of file planning_scene_display.cpp.

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◆ waitForCurrentRobotState()

bool moveit_rviz_plugin::PlanningSceneDisplay::waitForCurrentRobotState ( const rclcpp::Time & t )

wait for robot state more recent than t

Definition at line 318 of file planning_scene_display.cpp.

Member Data Documentation

◆ attached_body_color_property_

rviz_common::properties::ColorProperty* moveit_rviz_plugin::PlanningSceneDisplay::attached_body_color_property_

protected

Definition at line 238 of file planning_scene_display.hpp.

◆ background_process_

moveit::tools::BackgroundProcessing moveit_rviz_plugin::PlanningSceneDisplay::background_process_

protected

Definition at line 208 of file planning_scene_display.hpp.

◆ current_scene_time_

double moveit_rviz_plugin::PlanningSceneDisplay::current_scene_time_

protected

Definition at line 223 of file planning_scene_display.hpp.

◆ logger_

rclcpp::Logger moveit_rviz_plugin::PlanningSceneDisplay::logger_

protected

Definition at line 245 of file planning_scene_display.hpp.

◆ main_loop_jobs_

std::deque<std::function<void()> > moveit_rviz_plugin::PlanningSceneDisplay::main_loop_jobs_

protected

Definition at line 209 of file planning_scene_display.hpp.

◆ main_loop_jobs_empty_condition_

std::condition_variable moveit_rviz_plugin::PlanningSceneDisplay::main_loop_jobs_empty_condition_

protected

Definition at line 211 of file planning_scene_display.hpp.

◆ main_loop_jobs_lock_

std::mutex moveit_rviz_plugin::PlanningSceneDisplay::main_loop_jobs_lock_

protected

Definition at line 210 of file planning_scene_display.hpp.

◆ move_group_ns_property_

rviz_common::properties::StringProperty* moveit_rviz_plugin::PlanningSceneDisplay::move_group_ns_property_

protected

Definition at line 228 of file planning_scene_display.hpp.

◆ node_

rclcpp::Node::SharedPtr moveit_rviz_plugin::PlanningSceneDisplay::node_

protected

Definition at line 244 of file planning_scene_display.hpp.

◆ octree_coloring_property_

rviz_common::properties::EnumProperty* moveit_rviz_plugin::PlanningSceneDisplay::octree_coloring_property_

protected

Definition at line 241 of file planning_scene_display.hpp.

◆ octree_render_property_

rviz_common::properties::EnumProperty* moveit_rviz_plugin::PlanningSceneDisplay::octree_render_property_

protected

Definition at line 240 of file planning_scene_display.hpp.

◆ planning_scene_monitor_

planning_scene_monitor::PlanningSceneMonitorPtr moveit_rviz_plugin::PlanningSceneDisplay::planning_scene_monitor_

protected

Definition at line 205 of file planning_scene_display.hpp.

◆ planning_scene_needs_render_

bool moveit_rviz_plugin::PlanningSceneDisplay::planning_scene_needs_render_

protected

Definition at line 220 of file planning_scene_display.hpp.

◆ planning_scene_node_

Ogre::SceneNode* moveit_rviz_plugin::PlanningSceneDisplay::planning_scene_node_

protected

displays planning scene with everything in it

Definition at line 213 of file planning_scene_display.hpp.

◆ planning_scene_render_

PlanningSceneRenderPtr moveit_rviz_plugin::PlanningSceneDisplay::planning_scene_render_

protected

Definition at line 217 of file planning_scene_display.hpp.

◆ planning_scene_robot_

RobotStateVisualizationPtr moveit_rviz_plugin::PlanningSceneDisplay::planning_scene_robot_

protected

Definition at line 216 of file planning_scene_display.hpp.

◆ planning_scene_topic_property_

rviz_common::properties::RosTopicProperty* moveit_rviz_plugin::PlanningSceneDisplay::planning_scene_topic_property_

protected

Definition at line 234 of file planning_scene_display.hpp.

◆ robot_alpha_property_

rviz_common::properties::FloatProperty* moveit_rviz_plugin::PlanningSceneDisplay::robot_alpha_property_

protected

Definition at line 235 of file planning_scene_display.hpp.

◆ robot_category_

rviz_common::properties::Property* moveit_rviz_plugin::PlanningSceneDisplay::robot_category_

protected

Definition at line 226 of file planning_scene_display.hpp.

◆ robot_description_property_

rviz_common::properties::StringProperty* moveit_rviz_plugin::PlanningSceneDisplay::robot_description_property_

protected

Definition at line 229 of file planning_scene_display.hpp.

◆ robot_model_loading_lock_

std::mutex moveit_rviz_plugin::PlanningSceneDisplay::robot_model_loading_lock_

protected

Definition at line 206 of file planning_scene_display.hpp.

◆ robot_state_needs_render_

bool moveit_rviz_plugin::PlanningSceneDisplay::robot_state_needs_render_

protected

Definition at line 222 of file planning_scene_display.hpp.

◆ scene_alpha_property_

rviz_common::properties::FloatProperty* moveit_rviz_plugin::PlanningSceneDisplay::scene_alpha_property_

protected

Definition at line 236 of file planning_scene_display.hpp.

◆ scene_category_

rviz_common::properties::Property* moveit_rviz_plugin::PlanningSceneDisplay::scene_category_

protected

Definition at line 225 of file planning_scene_display.hpp.

◆ scene_color_property_

rviz_common::properties::ColorProperty* moveit_rviz_plugin::PlanningSceneDisplay::scene_color_property_

protected

Definition at line 237 of file planning_scene_display.hpp.

◆ scene_display_time_property_

rviz_common::properties::FloatProperty* moveit_rviz_plugin::PlanningSceneDisplay::scene_display_time_property_

protected

Definition at line 239 of file planning_scene_display.hpp.

◆ scene_enabled_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::PlanningSceneDisplay::scene_enabled_property_

protected

Definition at line 231 of file planning_scene_display.hpp.

◆ scene_name_property_

rviz_common::properties::StringProperty* moveit_rviz_plugin::PlanningSceneDisplay::scene_name_property_

protected

Definition at line 230 of file planning_scene_display.hpp.

◆ scene_robot_collision_enabled_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::PlanningSceneDisplay::scene_robot_collision_enabled_property_

protected

Definition at line 233 of file planning_scene_display.hpp.

◆ scene_robot_visual_enabled_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::PlanningSceneDisplay::scene_robot_visual_enabled_property_

protected

Definition at line 232 of file planning_scene_display.hpp.

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

moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.hpp
moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp

Public Member Functions

Protected Slots

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PlanningSceneDisplay()

◆ ~PlanningSceneDisplay()

Member Function Documentation

◆ addBackgroundJob()

◆ addMainLoopJob()

◆ calculateOffsetPosition()

◆ changedAttachedBodyColor

◆ clearJobs()

◆ clearRobotModel()

◆ createPlanningSceneMonitor()

◆ executeMainLoopJobs()

◆ fixedFrameChanged()

◆ getMoveGroupNS()

◆ getPlanningSceneMonitor()

◆ getPlanningSceneRO()

◆ getPlanningSceneRW()

◆ getRobotModel()

◆ load()

◆ loadRobotModel()

◆ onDisable()

◆ onEnable()

◆ onInitialize()

◆ onNewPlanningSceneState()

◆ onRobotModelLoaded()

◆ onSceneMonitorReceivedUpdate()

◆ queueRenderSceneGeometry()

◆ renderPlanningScene()

◆ reset()

◆ save()

◆ sceneMonitorReceivedUpdate()

◆ setGroupColor()

◆ setLinkColor() [1/2]

◆ setLinkColor() [2/2]

◆ spawnBackgroundJob()

◆ unsetAllColors()

◆ unsetGroupColor()

◆ unsetLinkColor() [1/2]

◆ unsetLinkColor() [2/2]

◆ update()

◆ updateInternal() [1/2]

◆ updateInternal() [2/2]

◆ waitForAllMainLoopJobs()

◆ waitForCurrentRobotState()

Member Data Documentation

◆ attached_body_color_property_

◆ background_process_

◆ current_scene_time_

◆ logger_

◆ main_loop_jobs_

◆ main_loop_jobs_empty_condition_

◆ main_loop_jobs_lock_

◆ move_group_ns_property_

◆ node_

◆ octree_coloring_property_

◆ octree_render_property_

◆ planning_scene_monitor_

◆ planning_scene_needs_render_

◆ planning_scene_node_

◆ planning_scene_render_

◆ planning_scene_robot_

◆ planning_scene_topic_property_

◆ robot_alpha_property_

◆ robot_category_

◆ robot_description_property_

◆ robot_model_loading_lock_

◆ robot_state_needs_render_

◆ scene_alpha_property_

◆ scene_category_

◆ scene_color_property_

◆ scene_display_time_property_

◆ scene_enabled_property_

◆ scene_name_property_

◆ scene_robot_collision_enabled_property_

◆ scene_robot_visual_enabled_property_