rviz::RobotLink Struct Reference

Contains any data we need from a link in the robot. More...

#include <robot_link.h>

List of all members.

Public Slots

void updateVisibility ()
 Update the visibility of the link elements: visual mesh, collision mesh, trail, and axes.

Public Member Functions

const std::string & getName ()
Ogre::Quaternion getOrientation ()
Ogre::Vector3 getPosition ()
bool isValid ()
void load (TiXmlElement *root_element, urdf::Model &descr, const urdf::LinkConstPtr &link, bool visual, bool collision)
 RobotLink (Robot *parent, DisplayContext *context, Property *parent_property)
void setRobotAlpha (float a)
void setToErrorMaterial ()
void setToNormalMaterial ()
void setTransforms (const Ogre::Vector3 &visual_position, const Ogre::Quaternion &visual_orientation, const Ogre::Vector3 &collision_position, const Ogre::Quaternion &collision_orientation, bool applyOffsetTransforms)
 ~RobotLink ()

Private Types

typedef std::map
< Ogre::SubEntity
*, Ogre::MaterialPtr > 
M_SubEntityToMaterial

Private Slots

void updateAlpha ()
void updateAxes ()
void updateTrail ()

Private Member Functions

void createCollision (TiXmlElement *root_element, const urdf::LinkConstPtr &link)
void createEntityForGeometryElement (TiXmlElement *root_element, const urdf::LinkConstPtr &link, const urdf::Geometry &geom, const urdf::Pose &origin, Ogre::SceneNode *parent_node, Ogre::Entity *&entity, Ogre::SceneNode *&scene_node, Ogre::SceneNode *&offset_node)
void createSelection (const urdf::Model &descr, const urdf::LinkConstPtr &link)
void createVisual (TiXmlElement *root_element, const urdf::LinkConstPtr &link)
bool getEnabled () const
Ogre::MaterialPtr getMaterialForLink (TiXmlElement *root_element, const urdf::LinkConstPtr &link)

Private Attributes

FloatPropertyalpha_property_
Axesaxes_
Propertyaxes_property_
Ogre::Entity * collision_mesh_
 The entity representing the collision mesh of this link (if it exists).
Ogre::SceneNode * collision_node_
 The scene node the collision mesh/primitive is attached to.
Ogre::SceneNode * collision_offset_node_
DisplayContextcontext_
Ogre::MaterialPtr default_material_
std::string default_material_name_
bool enabled_
 True if this link should be shown, false if not.
std::string joint_name_
Propertylink_property_
float material_alpha_
 If material is not a texture, this saves the alpha value set in the URDF, otherwise is 1.0.
M_SubEntityToMaterial materials_
std::string name_
 Name of this link.
QuaternionPropertyorientation_property_
Robotparent_
VectorPropertyposition_property_
float robot_alpha_
 Alpha value from top-level robot alpha Property (set via setRobotAlpha()).
Ogre::SceneManager * scene_manager_
RobotLinkSelectionHandlerPtr selection_handler_
CollObjectHandle selection_object_
Ogre::RibbonTrail * trail_
Propertytrail_property_
Ogre::Entity * visual_mesh_
 The entity representing the visual mesh of this link (if it exists).
Ogre::SceneNode * visual_node_
 The scene node the visual mesh is attached to.
Ogre::SceneNode * visual_offset_node_

Friends

class RobotLinkSelectionHandler

Detailed Description

Contains any data we need from a link in the robot.

Definition at line 93 of file robot_link.h.


Member Typedef Documentation

typedef std::map<Ogre::SubEntity*, Ogre::MaterialPtr> rviz::RobotLink::M_SubEntityToMaterial [private]

Definition at line 146 of file robot_link.h.


Constructor & Destructor Documentation

rviz::RobotLink::RobotLink ( Robot parent,
DisplayContext context,
Property parent_property 
)

Definition at line 82 of file robot_link.cpp.

rviz::RobotLink::~RobotLink (  ) 

Definition at line 122 of file robot_link.cpp.


Member Function Documentation

void rviz::RobotLink::createCollision ( TiXmlElement *  root_element,
const urdf::LinkConstPtr link 
) [private]

Definition at line 431 of file robot_link.cpp.

void rviz::RobotLink::createEntityForGeometryElement ( TiXmlElement *  root_element,
const urdf::LinkConstPtr link,
const urdf::Geometry &  geom,
const urdf::Pose &  origin,
Ogre::SceneNode *  parent_node,
Ogre::Entity *&  entity,
Ogre::SceneNode *&  scene_node,
Ogre::SceneNode *&  offset_node 
) [private]

Definition at line 301 of file robot_link.cpp.

void rviz::RobotLink::createSelection ( const urdf::Model &  descr,
const urdf::LinkConstPtr link 
) [private]

Definition at line 449 of file robot_link.cpp.

void rviz::RobotLink::createVisual ( TiXmlElement *  root_element,
const urdf::LinkConstPtr link 
) [private]

Definition at line 440 of file robot_link.cpp.

bool rviz::RobotLink::getEnabled (  )  const [private]

Definition at line 154 of file robot_link.cpp.

Ogre::MaterialPtr rviz::RobotLink::getMaterialForLink ( TiXmlElement *  root_element,
const urdf::LinkConstPtr link 
) [private]

Definition at line 233 of file robot_link.cpp.

const std::string& rviz::RobotLink::getName ( void   )  [inline]

Definition at line 107 of file robot_link.h.

Ogre::Quaternion rviz::RobotLink::getOrientation (  ) 

Definition at line 589 of file robot_link.cpp.

Ogre::Vector3 rviz::RobotLink::getPosition (  ) 

Definition at line 584 of file robot_link.cpp.

bool rviz::RobotLink::isValid (  ) 

Definition at line 149 of file robot_link.cpp.

void rviz::RobotLink::load ( TiXmlElement *  root_element,
urdf::Model &  descr,
const urdf::LinkConstPtr link,
bool  visual,
bool  collision 
)

Definition at line 159 of file robot_link.cpp.

void rviz::RobotLink::setRobotAlpha ( float  a  ) 

Definition at line 180 of file robot_link.cpp.

void rviz::RobotLink::setToErrorMaterial (  ) 

Definition at line 561 of file robot_link.cpp.

void rviz::RobotLink::setToNormalMaterial (  ) 

Definition at line 574 of file robot_link.cpp.

void rviz::RobotLink::setTransforms ( const Ogre::Vector3 &  visual_position,
const Ogre::Quaternion &  visual_orientation,
const Ogre::Vector3 &  collision_position,
const Ogre::Quaternion &  collision_orientation,
bool  applyOffsetTransforms 
)

Definition at line 535 of file robot_link.cpp.

void rviz::RobotLink::updateAlpha (  )  [private, slot]

Definition at line 186 of file robot_link.cpp.

void rviz::RobotLink::updateAxes (  )  [private, slot]

Definition at line 512 of file robot_link.cpp.

void rviz::RobotLink::updateTrail (  )  [private, slot]

Definition at line 476 of file robot_link.cpp.

void rviz::RobotLink::updateVisibility (  )  [slot]

Update the visibility of the link elements: visual mesh, collision mesh, trail, and axes.

Called by Robot when changing visual and collision visibilities, since each link may be enabled or disabled.

Definition at line 212 of file robot_link.cpp.


Friends And Related Function Documentation

friend class RobotLinkSelectionHandler [friend]

Definition at line 180 of file robot_link.h.


Member Data Documentation

Definition at line 178 of file robot_link.h.

Definition at line 161 of file robot_link.h.

Definition at line 177 of file robot_link.h.

Ogre::Entity* rviz::RobotLink::collision_mesh_ [private]

The entity representing the collision mesh of this link (if it exists).

Definition at line 152 of file robot_link.h.

Ogre::SceneNode* rviz::RobotLink::collision_node_ [private]

The scene node the collision mesh/primitive is attached to.

Definition at line 156 of file robot_link.h.

Ogre::SceneNode* rviz::RobotLink::collision_offset_node_ [private]

Definition at line 157 of file robot_link.h.

Definition at line 140 of file robot_link.h.

Ogre::MaterialPtr rviz::RobotLink::default_material_ [private]

Definition at line 148 of file robot_link.h.

Definition at line 149 of file robot_link.h.

bool rviz::RobotLink::enabled_ [private]

True if this link should be shown, false if not.

Definition at line 144 of file robot_link.h.

std::string rviz::RobotLink::joint_name_ [private]

Definition at line 167 of file robot_link.h.

Definition at line 173 of file robot_link.h.

If material is not a texture, this saves the alpha value set in the URDF, otherwise is 1.0.

Definition at line 163 of file robot_link.h.

Definition at line 147 of file robot_link.h.

std::string rviz::RobotLink::name_ [private]

Name of this link.

Definition at line 142 of file robot_link.h.

Definition at line 175 of file robot_link.h.

Definition at line 138 of file robot_link.h.

Definition at line 174 of file robot_link.h.

Alpha value from top-level robot alpha Property (set via setRobotAlpha()).

Definition at line 164 of file robot_link.h.

Ogre::SceneManager* rviz::RobotLink::scene_manager_ [private]

Definition at line 139 of file robot_link.h.

Definition at line 170 of file robot_link.h.

Definition at line 169 of file robot_link.h.

Ogre::RibbonTrail* rviz::RobotLink::trail_ [private]

Definition at line 159 of file robot_link.h.

Definition at line 176 of file robot_link.h.

Ogre::Entity* rviz::RobotLink::visual_mesh_ [private]

The entity representing the visual mesh of this link (if it exists).

Definition at line 151 of file robot_link.h.

Ogre::SceneNode* rviz::RobotLink::visual_node_ [private]

The scene node the visual mesh is attached to.

Definition at line 154 of file robot_link.h.

Ogre::SceneNode* rviz::RobotLink::visual_offset_node_ [private]

Definition at line 155 of file robot_link.h.


The documentation for this struct was generated from the following files:
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rviz
Author(s): Dave Hershberger, Josh Faust
autogenerated on Wed Jun 6 11:25:48 2012