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The MoveIt Motion Planning Framework for ROS 2.
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Public Slots | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
moveit_rviz_plugin::TrajectoryVisualization Class Reference

#include <trajectory_visualization.h>

Inheritance diagram for moveit_rviz_plugin::TrajectoryVisualization:
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Public Slots

void interruptCurrentDisplay ()
 
void setDefaultAttachedObjectColor (const QColor &color)
 

Public Member Functions

 TrajectoryVisualization (rviz_common::properties::Property *widget, rviz_common::Display *display)
 Playback a trajectory from a planned path.
 
 ~TrajectoryVisualization () override
 
virtual void update (double wall_dt, double sim_dt)
 
virtual void reset ()
 
void onInitialize (const rclcpp::Node::SharedPtr &node, Ogre::SceneNode *scene_node, rviz_common::DisplayContext *context)
 
void clearRobotModel ()
 
void onRobotModelLoaded (const moveit::core::RobotModelConstPtr &robot_model)
 
void onEnable ()
 
void onDisable ()
 
void setName (const QString &name)
 
void dropTrajectory ()
 

Protected Member Functions

void incomingDisplayTrajectory (const moveit_msgs::msg::DisplayTrajectory::ConstSharedPtr &msg)
 ROS callback for an incoming path message.
 
double getStateDisplayTime ()
 get time to show each single robot state
 
void clearTrajectoryTrail ()
 
void setRobotColor (rviz_default_plugins::robot::Robot *robot, const QColor &color)
 
void unsetRobotColor (rviz_default_plugins::robot::Robot *robot)
 

Protected Attributes

RobotStateVisualizationPtr display_path_robot_
 
std_msgs::msg::ColorRGBA default_attached_object_color_
 
robot_trajectory::RobotTrajectoryPtr displaying_trajectory_message_
 
robot_trajectory::RobotTrajectoryPtr trajectory_message_to_display_
 
std::vector< RobotStateVisualizationUniquePtr > trajectory_trail_
 
rclcpp::Subscription< moveit_msgs::msg::DisplayTrajectory >::SharedPtr trajectory_topic_sub_
 
bool animating_path_
 
bool drop_displaying_trajectory_
 
int current_state_
 
double current_state_time_
 
std::mutex update_trajectory_message_
 
moveit::core::RobotModelConstPtr robot_model_
 
moveit::core::RobotStatePtr robot_state_
 
rviz_common::Display * display_
 
rviz_common::properties::Property * widget_
 
Ogre::SceneNode * scene_node_
 
rviz_common::DisplayContext * context_
 
rclcpp::Node::SharedPtr node_
 
TrajectoryPanel * trajectory_slider_panel_
 
rviz_common::PanelDockWidget * trajectory_slider_dock_panel_
 
rclcpp::Logger logger_
 
rviz_common::properties::BoolProperty * display_path_visual_enabled_property_
 
rviz_common::properties::BoolProperty * display_path_collision_enabled_property_
 
rviz_common::properties::EditableEnumProperty * state_display_time_property_
 
rviz_common::properties::RosTopicProperty * trajectory_topic_property_
 
rviz_common::properties::FloatProperty * robot_path_alpha_property_
 
rviz_common::properties::BoolProperty * loop_display_property_
 
rviz_common::properties::BoolProperty * use_sim_time_property_
 
rviz_common::properties::BoolProperty * trail_display_property_
 
rviz_common::properties::BoolProperty * interrupt_display_property_
 
rviz_common::properties::ColorProperty * robot_color_property_
 
rviz_common::properties::BoolProperty * enable_robot_color_property_
 
rviz_common::properties::IntProperty * trail_step_size_property_
 

Detailed Description

Definition at line 76 of file trajectory_visualization.h.

Constructor & Destructor Documentation

◆ TrajectoryVisualization()

moveit_rviz_plugin::TrajectoryVisualization::TrajectoryVisualization ( rviz_common::properties::Property *  widget,
rviz_common::Display *  display 
)

Playback a trajectory from a planned path.

Parameters
widget- either a rviz::Display or rviz::Property
display- the rviz::Display from the parent
Returns
true on success

Definition at line 66 of file trajectory_visualization.cpp.

◆ ~TrajectoryVisualization()

moveit_rviz_plugin::TrajectoryVisualization::~TrajectoryVisualization ( )
override

Definition at line 141 of file trajectory_visualization.cpp.

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Member Function Documentation

◆ clearRobotModel()

void moveit_rviz_plugin::TrajectoryVisualization::clearRobotModel ( )

Definition at line 659 of file trajectory_visualization.cpp.

◆ clearTrajectoryTrail()

void moveit_rviz_plugin::TrajectoryVisualization::clearTrajectoryTrail ( )
protected

Definition at line 233 of file trajectory_visualization.cpp.

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◆ dropTrajectory()

void moveit_rviz_plugin::TrajectoryVisualization::dropTrajectory ( )

Definition at line 414 of file trajectory_visualization.cpp.

◆ getStateDisplayTime()

double moveit_rviz_plugin::TrajectoryVisualization::getStateDisplayTime ( )
protected

get time to show each single robot state

Returns
Positive values indicate a fixed time per state Negative values indicate a realtime-factor

Definition at line 367 of file trajectory_visualization.cpp.

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◆ incomingDisplayTrajectory()

void moveit_rviz_plugin::TrajectoryVisualization::incomingDisplayTrajectory ( const moveit_msgs::msg::DisplayTrajectory::ConstSharedPtr &  msg)
protected

ROS callback for an incoming path message.

Definition at line 548 of file trajectory_visualization.cpp.

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◆ interruptCurrentDisplay

void moveit_rviz_plugin::TrajectoryVisualization::interruptCurrentDisplay ( )
slot

Definition at line 358 of file trajectory_visualization.cpp.

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◆ onDisable()

void moveit_rviz_plugin::TrajectoryVisualization::onDisable ( )

Definition at line 347 of file trajectory_visualization.cpp.

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◆ onEnable()

void moveit_rviz_plugin::TrajectoryVisualization::onEnable ( )

Definition at line 330 of file trajectory_visualization.cpp.

◆ onInitialize()

void moveit_rviz_plugin::TrajectoryVisualization::onInitialize ( const rclcpp::Node::SharedPtr &  node,
Ogre::SceneNode *  scene_node,
rviz_common::DisplayContext *  context 
)

Definition at line 152 of file trajectory_visualization.cpp.

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◆ onRobotModelLoaded()

void moveit_rviz_plugin::TrajectoryVisualization::onRobotModelLoaded ( const moveit::core::RobotModelConstPtr &  robot_model)

Definition at line 197 of file trajectory_visualization.cpp.

◆ reset()

void moveit_rviz_plugin::TrajectoryVisualization::reset ( )
virtual

Definition at line 221 of file trajectory_visualization.cpp.

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◆ setDefaultAttachedObjectColor

void moveit_rviz_plugin::TrajectoryVisualization::setDefaultAttachedObjectColor ( const QColor &  color)
slot

Definition at line 622 of file trajectory_visualization.cpp.

◆ setName()

void moveit_rviz_plugin::TrajectoryVisualization::setName ( const QString &  name)

Definition at line 191 of file trajectory_visualization.cpp.

◆ setRobotColor()

void moveit_rviz_plugin::TrajectoryVisualization::setRobotColor ( rviz_default_plugins::robot::Robot *  robot,
const QColor &  color 
)
protected

Definition at line 638 of file trajectory_visualization.cpp.

◆ unsetRobotColor()

void moveit_rviz_plugin::TrajectoryVisualization::unsetRobotColor ( rviz_default_plugins::robot::Robot *  robot)
protected

Definition at line 616 of file trajectory_visualization.cpp.

◆ update()

void moveit_rviz_plugin::TrajectoryVisualization::update ( double  wall_dt,
double  sim_dt 
)
virtual

Definition at line 419 of file trajectory_visualization.cpp.

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Member Data Documentation

◆ animating_path_

bool moveit_rviz_plugin::TrajectoryVisualization::animating_path_
protected

Definition at line 151 of file trajectory_visualization.h.

◆ context_

rviz_common::DisplayContext* moveit_rviz_plugin::TrajectoryVisualization::context_
protected

Definition at line 164 of file trajectory_visualization.h.

◆ current_state_

int moveit_rviz_plugin::TrajectoryVisualization::current_state_
protected

Definition at line 153 of file trajectory_visualization.h.

◆ current_state_time_

double moveit_rviz_plugin::TrajectoryVisualization::current_state_time_
protected

Definition at line 154 of file trajectory_visualization.h.

◆ default_attached_object_color_

std_msgs::msg::ColorRGBA moveit_rviz_plugin::TrajectoryVisualization::default_attached_object_color_
protected

Definition at line 141 of file trajectory_visualization.h.

◆ display_

rviz_common::Display* moveit_rviz_plugin::TrajectoryVisualization::display_
protected

Definition at line 161 of file trajectory_visualization.h.

◆ display_path_collision_enabled_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::TrajectoryVisualization::display_path_collision_enabled_property_
protected

Definition at line 172 of file trajectory_visualization.h.

◆ display_path_robot_

RobotStateVisualizationPtr moveit_rviz_plugin::TrajectoryVisualization::display_path_robot_
protected

Definition at line 140 of file trajectory_visualization.h.

◆ display_path_visual_enabled_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::TrajectoryVisualization::display_path_visual_enabled_property_
protected

Definition at line 171 of file trajectory_visualization.h.

◆ displaying_trajectory_message_

robot_trajectory::RobotTrajectoryPtr moveit_rviz_plugin::TrajectoryVisualization::displaying_trajectory_message_
protected

Definition at line 147 of file trajectory_visualization.h.

◆ drop_displaying_trajectory_

bool moveit_rviz_plugin::TrajectoryVisualization::drop_displaying_trajectory_
protected

Definition at line 152 of file trajectory_visualization.h.

◆ enable_robot_color_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::TrajectoryVisualization::enable_robot_color_property_
protected

Definition at line 181 of file trajectory_visualization.h.

◆ interrupt_display_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::TrajectoryVisualization::interrupt_display_property_
protected

Definition at line 179 of file trajectory_visualization.h.

◆ logger_

rclcpp::Logger moveit_rviz_plugin::TrajectoryVisualization::logger_
protected

Definition at line 168 of file trajectory_visualization.h.

◆ loop_display_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::TrajectoryVisualization::loop_display_property_
protected

Definition at line 176 of file trajectory_visualization.h.

◆ node_

rclcpp::Node::SharedPtr moveit_rviz_plugin::TrajectoryVisualization::node_
protected

Definition at line 165 of file trajectory_visualization.h.

◆ robot_color_property_

rviz_common::properties::ColorProperty* moveit_rviz_plugin::TrajectoryVisualization::robot_color_property_
protected

Definition at line 180 of file trajectory_visualization.h.

◆ robot_model_

moveit::core::RobotModelConstPtr moveit_rviz_plugin::TrajectoryVisualization::robot_model_
protected

Definition at line 157 of file trajectory_visualization.h.

◆ robot_path_alpha_property_

rviz_common::properties::FloatProperty* moveit_rviz_plugin::TrajectoryVisualization::robot_path_alpha_property_
protected

Definition at line 175 of file trajectory_visualization.h.

◆ robot_state_

moveit::core::RobotStatePtr moveit_rviz_plugin::TrajectoryVisualization::robot_state_
protected

Definition at line 158 of file trajectory_visualization.h.

◆ scene_node_

Ogre::SceneNode* moveit_rviz_plugin::TrajectoryVisualization::scene_node_
protected

Definition at line 163 of file trajectory_visualization.h.

◆ state_display_time_property_

rviz_common::properties::EditableEnumProperty* moveit_rviz_plugin::TrajectoryVisualization::state_display_time_property_
protected

Definition at line 173 of file trajectory_visualization.h.

◆ trail_display_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::TrajectoryVisualization::trail_display_property_
protected

Definition at line 178 of file trajectory_visualization.h.

◆ trail_step_size_property_

rviz_common::properties::IntProperty* moveit_rviz_plugin::TrajectoryVisualization::trail_step_size_property_
protected

Definition at line 182 of file trajectory_visualization.h.

◆ trajectory_message_to_display_

robot_trajectory::RobotTrajectoryPtr moveit_rviz_plugin::TrajectoryVisualization::trajectory_message_to_display_
protected

Definition at line 148 of file trajectory_visualization.h.

◆ trajectory_slider_dock_panel_

rviz_common::PanelDockWidget* moveit_rviz_plugin::TrajectoryVisualization::trajectory_slider_dock_panel_
protected

Definition at line 167 of file trajectory_visualization.h.

◆ trajectory_slider_panel_

TrajectoryPanel* moveit_rviz_plugin::TrajectoryVisualization::trajectory_slider_panel_
protected

Definition at line 166 of file trajectory_visualization.h.

◆ trajectory_topic_property_

rviz_common::properties::RosTopicProperty* moveit_rviz_plugin::TrajectoryVisualization::trajectory_topic_property_
protected

Definition at line 174 of file trajectory_visualization.h.

◆ trajectory_topic_sub_

rclcpp::Subscription<moveit_msgs::msg::DisplayTrajectory>::SharedPtr moveit_rviz_plugin::TrajectoryVisualization::trajectory_topic_sub_
protected

Definition at line 150 of file trajectory_visualization.h.

◆ trajectory_trail_

std::vector<RobotStateVisualizationUniquePtr> moveit_rviz_plugin::TrajectoryVisualization::trajectory_trail_
protected

Definition at line 149 of file trajectory_visualization.h.

◆ update_trajectory_message_

std::mutex moveit_rviz_plugin::TrajectoryVisualization::update_trajectory_message_
protected

Definition at line 155 of file trajectory_visualization.h.

◆ use_sim_time_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::TrajectoryVisualization::use_sim_time_property_
protected

Definition at line 177 of file trajectory_visualization.h.

◆ widget_

rviz_common::properties::Property* moveit_rviz_plugin::TrajectoryVisualization::widget_
protected

Definition at line 162 of file trajectory_visualization.h.

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