#include <robot_state_display.hpp>

Inheritance diagram for moveit_rviz_plugin::RobotStateDisplay:

Collaboration diagram for moveit_rviz_plugin::RobotStateDisplay:

Public Slots
void	setVisible (bool visible)

Public Member Functions
	RobotStateDisplay ()
	~RobotStateDisplay () override
void	load (const rviz_common::Config &config) override
void	update (float wall_dt, float ros_dt) override
void	reset () override
const moveit::core::RobotModelConstPtr &	getRobotModel () const
void	setLinkColor (const std::string &link_name, const QColor &color)
void	unsetLinkColor (const std::string &link_name)

Protected Member Functions
void	initializeLoader ()
void	loadRobotModel ()
void	calculateOffsetPosition ()
	Set the scene node's position, given the target frame and the planning frame.
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	newRobotStateCallback (const moveit_msgs::msg::DisplayRobotState::ConstSharedPtr &state)
void	setRobotHighlights (const moveit_msgs::msg::DisplayRobotState::_highlight_links_type &highlight_links)
void	setHighlight (const std::string &link_name, const std_msgs::msg::ColorRGBA &color)
void	unsetHighlight (const std::string &link_name)
void	onInitialize () override
void	onEnable () override
void	onDisable () override
void	fixedFrameChanged () override

Protected Attributes
rclcpp::Node::SharedPtr	node_
rclcpp::Subscription< moveit_msgs::msg::DisplayRobotState >::SharedPtr	robot_state_subscriber_
RobotStateVisualizationPtr	robot_
rdf_loader::RDFLoaderPtr	rdf_loader_
moveit::core::RobotModelConstPtr	robot_model_
moveit::core::RobotStatePtr	robot_state_
std::map< std::string, std_msgs::msg::ColorRGBA >	highlights_
bool	update_state_
rviz_common::properties::StringProperty *	robot_description_property_
rviz_common::properties::StringProperty *	root_link_name_property_
rviz_common::properties::RosTopicProperty *	robot_state_topic_property_
rviz_common::properties::FloatProperty *	robot_alpha_property_
rviz_common::properties::ColorProperty *	attached_body_color_property_
rviz_common::properties::BoolProperty *	enable_link_highlight_
rviz_common::properties::BoolProperty *	enable_visual_visible_
rviz_common::properties::BoolProperty *	enable_collision_visible_
rviz_common::properties::BoolProperty *	show_all_links_

Detailed Description

Definition at line 69 of file robot_state_display.hpp.

Constructor & Destructor Documentation

◆ RobotStateDisplay()

moveit_rviz_plugin::RobotStateDisplay::RobotStateDisplay ( )

Definition at line 66 of file robot_state_display.cpp.

◆ ~RobotStateDisplay()

moveit_rviz_plugin::RobotStateDisplay::~RobotStateDisplay ( )

overridedefault

Member Function Documentation

◆ calculateOffsetPosition()

void moveit_rviz_plugin::RobotStateDisplay::calculateOffsetPosition ( )

protected

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

Definition at line 493 of file robot_state_display.cpp.

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◆ fixedFrameChanged()

void moveit_rviz_plugin::RobotStateDisplay::fixedFrameChanged ( )

overrideprotected

Definition at line 508 of file robot_state_display.cpp.

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◆ getRobotModel()

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

inline

Definition at line 91 of file robot_state_display.hpp.

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◆ initializeLoader()

void moveit_rviz_plugin::RobotStateDisplay::initializeLoader ( )

protected

Definition at line 388 of file robot_state_display.cpp.

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◆ load()

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

override

Definition at line 434 of file robot_state_display.cpp.

◆ loadRobotModel()

void moveit_rviz_plugin::RobotStateDisplay::loadRobotModel ( )

protected

Definition at line 401 of file robot_state_display.cpp.

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◆ newRobotStateCallback()

void moveit_rviz_plugin::RobotStateDisplay::newRobotStateCallback ( const moveit_msgs::msg::DisplayRobotState::ConstSharedPtr & state )

protected

Definition at line 313 of file robot_state_display.cpp.

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◆ onDisable()

void moveit_rviz_plugin::RobotStateDisplay::onDisable ( )

overrideprotected

Definition at line 454 of file robot_state_display.cpp.

◆ onEnable()

void moveit_rviz_plugin::RobotStateDisplay::onEnable ( )

overrideprotected

Definition at line 442 of file robot_state_display.cpp.

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◆ onInitialize()

void moveit_rviz_plugin::RobotStateDisplay::onInitialize ( )

overrideprotected

Definition at line 116 of file robot_state_display.cpp.

◆ reset()

void moveit_rviz_plugin::RobotStateDisplay::reset ( )

override

Definition at line 133 of file robot_state_display.cpp.

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◆ setHighlight()

void moveit_rviz_plugin::RobotStateDisplay::setHighlight	(	const std::string &	link_name,
		const std_msgs::msg::ColorRGBA &	color )

protected

Definition at line 154 of file robot_state_display.cpp.

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◆ setLinkColor() [1/2]

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

Definition at line 351 of file robot_state_display.cpp.

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◆ setLinkColor() [2/2]

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

protected

Definition at line 366 of file robot_state_display.cpp.

◆ setRobotHighlights()

void moveit_rviz_plugin::RobotStateDisplay::setRobotHighlights ( const moveit_msgs::msg::DisplayRobotState::_highlight_links_type & highlight_links )

protected

Definition at line 202 of file robot_state_display.cpp.

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◆ setVisible

void moveit_rviz_plugin::RobotStateDisplay::setVisible ( bool visible )

slot

Definition at line 361 of file robot_state_display.cpp.

◆ unsetHighlight()

void moveit_rviz_plugin::RobotStateDisplay::unsetHighlight ( const std::string & link_name )

protected

Definition at line 164 of file robot_state_display.cpp.

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◆ unsetLinkColor() [1/2]

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

Definition at line 356 of file robot_state_display.cpp.

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◆ unsetLinkColor() [2/2]

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

protected

Definition at line 376 of file robot_state_display.cpp.

◆ update()

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

override

Definition at line 477 of file robot_state_display.cpp.

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Member Data Documentation

◆ attached_body_color_property_

rviz_common::properties::ColorProperty* moveit_rviz_plugin::RobotStateDisplay::attached_body_color_property_

protected

Definition at line 156 of file robot_state_display.hpp.

◆ enable_collision_visible_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::RobotStateDisplay::enable_collision_visible_

protected

Definition at line 159 of file robot_state_display.hpp.

◆ enable_link_highlight_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::RobotStateDisplay::enable_link_highlight_

protected

Definition at line 157 of file robot_state_display.hpp.

◆ enable_visual_visible_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::RobotStateDisplay::enable_visual_visible_

protected

Definition at line 158 of file robot_state_display.hpp.

◆ highlights_

std::map<std::string, std_msgs::msg::ColorRGBA> moveit_rviz_plugin::RobotStateDisplay::highlights_

protected

Definition at line 149 of file robot_state_display.hpp.

◆ node_

rclcpp::Node::SharedPtr moveit_rviz_plugin::RobotStateDisplay::node_

protected

Definition at line 142 of file robot_state_display.hpp.

◆ rdf_loader_

rdf_loader::RDFLoaderPtr moveit_rviz_plugin::RobotStateDisplay::rdf_loader_

protected

Definition at line 146 of file robot_state_display.hpp.

◆ robot_

RobotStateVisualizationPtr moveit_rviz_plugin::RobotStateDisplay::robot_

protected

Definition at line 145 of file robot_state_display.hpp.

◆ robot_alpha_property_

rviz_common::properties::FloatProperty* moveit_rviz_plugin::RobotStateDisplay::robot_alpha_property_

protected

Definition at line 155 of file robot_state_display.hpp.

◆ robot_description_property_

rviz_common::properties::StringProperty* moveit_rviz_plugin::RobotStateDisplay::robot_description_property_

protected

Definition at line 152 of file robot_state_display.hpp.

◆ robot_model_

moveit::core::RobotModelConstPtr moveit_rviz_plugin::RobotStateDisplay::robot_model_

protected

Definition at line 147 of file robot_state_display.hpp.

◆ robot_state_

moveit::core::RobotStatePtr moveit_rviz_plugin::RobotStateDisplay::robot_state_

protected

Definition at line 148 of file robot_state_display.hpp.

◆ robot_state_subscriber_

rclcpp::Subscription<moveit_msgs::msg::DisplayRobotState>::SharedPtr moveit_rviz_plugin::RobotStateDisplay::robot_state_subscriber_

protected

Definition at line 143 of file robot_state_display.hpp.

◆ robot_state_topic_property_

rviz_common::properties::RosTopicProperty* moveit_rviz_plugin::RobotStateDisplay::robot_state_topic_property_

protected

Definition at line 154 of file robot_state_display.hpp.

◆ root_link_name_property_

rviz_common::properties::StringProperty* moveit_rviz_plugin::RobotStateDisplay::root_link_name_property_

protected

Definition at line 153 of file robot_state_display.hpp.

◆ show_all_links_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::RobotStateDisplay::show_all_links_

protected

Definition at line 160 of file robot_state_display.hpp.

◆ update_state_

bool moveit_rviz_plugin::RobotStateDisplay::update_state_

protected

Definition at line 150 of file robot_state_display.hpp.

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

moveit_ros/visualization/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.hpp
moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp

Public Slots

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RobotStateDisplay()

◆ ~RobotStateDisplay()

Member Function Documentation

◆ calculateOffsetPosition()

◆ fixedFrameChanged()

◆ getRobotModel()

◆ initializeLoader()

◆ load()

◆ loadRobotModel()

◆ newRobotStateCallback()

◆ onDisable()

◆ onEnable()

◆ onInitialize()

◆ reset()

◆ setHighlight()

◆ setLinkColor() [1/2]

◆ setLinkColor() [2/2]

◆ setRobotHighlights()

◆ setVisible

◆ unsetHighlight()

◆ unsetLinkColor() [1/2]

◆ unsetLinkColor() [2/2]

◆ update()

Member Data Documentation

◆ attached_body_color_property_

◆ enable_collision_visible_

◆ enable_link_highlight_

◆ enable_visual_visible_

◆ highlights_

◆ node_

◆ rdf_loader_

◆ robot_

◆ robot_alpha_property_

◆ robot_description_property_

◆ robot_model_

◆ robot_state_

◆ robot_state_subscriber_

◆ robot_state_topic_property_

◆ root_link_name_property_

◆ show_all_links_

◆ update_state_