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The MoveIt Motion Planning Framework for ROS 2.
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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 &robot_state)
 
void update (const moveit::core::RobotStateConstPtr &robot_state, const std_msgs::msg::ColorRGBA &default_attached_object_color)
 
void update (const moveit::core::RobotStateConstPtr &robot_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 &robot_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
 
bool isVisible () const
 
void setVisible (bool visible)
 Set the robot as a whole to be visible or not.
 
void setVisualVisible (bool visible)
 Set whether the visual meshes of the robot should be visible.
 
void setCollisionVisible (bool visible)
 Set whether the collision meshes/primitives of the robot should be visible.
 
void setAlpha (double 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 55 of file robot_state_visualization.cpp.

Member Function Documentation

◆ clear()

void moveit_rviz_plugin::RobotStateVisualization::clear ( )

Definition at line 83 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 72 of file robot_state_visualization.cpp.

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◆ setAlpha()

void moveit_rviz_plugin::RobotStateVisualization::setAlpha ( double  alpha)

Definition at line 187 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
visibleWhether the collision meshes/primitives should be visible

Definition at line 181 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 89 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
visibleShould we be visible?

Definition at line 169 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
visibleWhether the visual meshes of the robot should be visible

Definition at line 175 of file robot_state_visualization.cpp.

◆ update() [1/3]

void moveit_rviz_plugin::RobotStateVisualization::update ( const moveit::core::RobotStateConstPtr &  robot_state)

Definition at line 100 of file robot_state_visualization.cpp.

◆ update() [2/3]

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

Definition at line 105 of file robot_state_visualization.cpp.

◆ update() [3/3]

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

Definition at line 111 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 94 of file robot_state_visualization.cpp.

◆ updateKinematicState()

void moveit_rviz_plugin::RobotStateVisualization::updateKinematicState ( const moveit::core::RobotStateConstPtr &  robot_state)

Definition at line 164 of file robot_state_visualization.cpp.


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