moveit_rviz_plugin::RobotStateVisualization Class Reference

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

#include <robot_state_visualization.hpp>

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.hpp.

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.hpp.

isVisible()

bool moveit_rviz_plugin::RobotStateVisualization::isVisible ( ) const

inline

Definition at line 75 of file robot_state_visualization.hpp.

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 185 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 179 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

visible

Should we be visible?

Definition at line 167 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 173 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 162 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.hpp
• moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp