robot_state_visualization.hpp

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/macros/class_forward.hpp>
#include <moveit/robot_state/robot_state.hpp>
#include <moveit/rviz_plugin_render_tools/octomap_render.hpp>
#include <rviz_default_plugins/robot/robot.hpp>
 
namespace moveit_rviz_plugin
{
MOVEIT_CLASS_FORWARD(RenderShapes);             // Defines RenderShapesPtr, ConstPtr, WeakPtr... etc
MOVEIT_CLASS_FORWARD(RobotStateVisualization);  // Defines RobotStateVisualizationPtr, ConstPtr, WeakPtr... etc
 
class RobotStateVisualization
{
public:
  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()
  {
    return robot_;
  }
 
  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);
 
  bool isVisible() const
  {
    return visible_;
  }
 
  void setVisible(bool visible);
 
  void setVisualVisible(bool visible);
 
  void setCollisionVisible(bool visible);
 
  void setAlpha(double alpha);
 
private:
  void updateHelper(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);
  rviz_default_plugins::robot::Robot robot_;
  RenderShapesPtr render_shapes_;
  std_msgs::msg::ColorRGBA default_attached_object_color_;
  OctreeVoxelRenderMode octree_voxel_render_mode_;
  OctreeVoxelColorMode octree_voxel_color_mode_;
 
  bool visible_;
  bool visual_visible_;
  bool collision_visible_;
};
}  // namespace moveit_rviz_plugin