rviz::VisualizationManager Class Reference

The VisualizationManager class is the central manager class of rviz, holding all the Displays, Tools, ViewControllers, and other managers. More...

#include <visualization_manager.h>

Inheritance diagram for rviz::VisualizationManager:

[legend]

List of all members.

Classes
struct	ToolRecord
Signals
void	configChanged ()
	Emitted whenever the display configuration changes.
void	timeChanged ()
	Emitted at most once every 100ms.
void	toolAdded (Tool *)
	Emitted by addTool() after the tool is added to the list of tools.
void	toolChanged (Tool *)
	Emitted by setCurrentTool() after the newly chosen tool is activated.
void	toolRemoved (Tool *)
void	viewControllerChanged (ViewController *)
	Emitted after the current ViewController has changed.
void	viewControllerTypeAdded (const std::string &class_name, const std::string &name)
	Emitted when a new ViewController type is added.
Public Member Functions
void	addDisplay (Display *display, bool enabled)
	Add a display to be managed by this panel.
void	addTool (const std::string &tool_class_lookup_name)
Display *	createDisplay (const QString &class_lookup_name, const QString &name, bool enabled)
	Create and add a display to this panel, by class lookup name.
Tool *	getCurrentTool ()
	Return the tool currently in use.
ViewController *	getCurrentViewController ()
	Return the current ViewController in use for the main RenderWindow.
std::string	getCurrentViewControllerType ()
	Return the type of the current ViewController as a std::string, like "rviz::OrbitViewController".
Tool *	getDefaultTool ()
	Get the default tool.
virtual DisplayFactory *	getDisplayFactory () const
	Return a factory for creating Display subclasses based on a class id string.
PropertyTreeModel *	getDisplayTreeModel () const
QString	getFixedFrame () const
	Return the fixed frame name.
uint64_t	getFrameCount () const
	Return the current value of the frame count.
FrameManager *	getFrameManager () const
	Return the FrameManager instance.
RenderPanel *	getRenderPanel ()
	Return the main RenderPanel.
double	getROSTime ()
	Return the ROS time, in seconds.
double	getROSTimeElapsed ()
	Return the ROS time in seconds since the last reset.
Ogre::SceneManager *	getSceneManager () const
	Returns the Ogre::SceneManager used for the main RenderPanel.
SelectionManager *	getSelectionManager () const
	Return a pointer to the SelectionManager.
QString	getTargetFrame () const
	Return the target frame name.
tf::TransformListener *	getTFClient () const
	Convenience function: returns getFrameManager()->getTFClient().
ros::CallbackQueueInterface *	getThreadedQueue ()
	Return a CallbackQueue using a different thread than the main GUI one.
Tool *	getTool (int index)
	Return the tool at a given index in the Tool list. If index is less than 0 or greater than the number of tools, this will fail an assertion.
std::set< std::string >	getToolClasses ()
pluginlib::ClassLoader< Tool > *	getToolClassLoader ()
ros::CallbackQueueInterface *	getUpdateQueue ()
	Return the CallbackQueue using the main GUI thread.
double	getWallClock ()
	Return the wall clock time, in seconds since 1970.
double	getWallClockElapsed ()
	Return the wall clock time in seconds since the last reset.
WindowManagerInterface *	getWindowManager () const
	Return the window manager, if any.
void	handleChar (QKeyEvent event, RenderPanel panel)
	Handle a single key event for a given RenderPanel.
void	handleMouseEvent (const ViewportMouseEvent &event)
	Handle a mouse event.
void	initialize (const StatusCallback &cb=StatusCallback(), bool verbose=false)
	Do initialization that wasn't done in constructor. Sets initial fixed and target frames, adds view controllers and tools, and initializes SelectionManager.
void	load (const YAML::Node &yaml_node, const StatusCallback &cb)
	Load the properties of each Display and most editable rviz data.
void	lockRender ()
	Lock a mutex to delay calls to Ogre::Root::renderOneFrame().
void	notifyConfigChanged ()
	Notify this VisualizationManager that something about its display configuration has changed.
int	numTools ()
void	queueRender ()
	Queues a render. Multiple calls before a render happens will only cause a single render.
void	removeAllDisplays ()
	Remove and delete all displays.
void	removeTool (int index)
void	resetTime ()
	Resets the wall and ROS elapsed time to zero and calls resetDisplays().
void	save (YAML::Emitter &emitter)
	Save the properties of each Display and most editable rviz data.
void	setCurrentTool (Tool *tool)
	Set the current tool. The current tool is given all mouse and keyboard events which VisualizationManager receives via handleMouseEvent() and handleChar().
bool	setCurrentViewControllerType (const std::string &type)
	Set the current view controller by specifying the desired type.
void	setDefaultTool (Tool *tool)
	Set the default tool.
void	setFixedFrame (const QString &frame)
	Set the coordinate frame we should be transforming all fixed data into.
void	setTargetFrame (const QString &frame)
	Set the coordinate frame whose position the display should track.
void	startUpdate ()
	Start timers. Creates and starts the update and idle timers, both set to 30Hz (33ms).
void	unlockRender ()
	Unlock a mutex, allowing calls to Ogre::Root::renderOneFrame().
	VisualizationManager (RenderPanel render_panel, WindowManagerInterface wm=0)
	Constructor Creates managers and sets up global properties.
virtual	~VisualizationManager ()
	Destructor Stops update timers and destroys all displays, tools, and managers.
Protected Types
typedef std::vector< ToolRecord >	V_ToolRecord
Protected Slots
void	onIdle ()
	Render one frame if requested and enough time has passed since the previous render.
void	onUpdate ()
	Call update() on all managed objects.
Protected Member Functions
void	addViewController (const std::string &class_name, const std::string &name)
void	createColorMaterials ()
void	incomingROSTime ()
void	threadedQueueThreadFunc ()
void	updateFrames ()
void	updateRelativeNode ()
void	updateTime ()
Protected Attributes
ColorProperty *	background_color_property_
Tool *	current_tool_
Tool *	default_tool_
bool	disable_update_
PropertyTreeModel *	display_property_tree_model_
TfFrameProperty *	fixed_frame_property_
	Frame to transform fixed data to.
uint64_t	frame_count_
FrameManager *	frame_manager_
float	frame_update_timer_
Property *	global_options_
StatusList *	global_status_
QTimer *	idle_timer_
	Timer with a timeout of 0. Called by Qt event loop when it has no events to process.
ros::WallTime	last_render_
ros::Time	last_update_ros_time_
	Update stopwatch. Stores how long it's been since the last update.
ros::WallTime	last_update_wall_time_
Ogre::Root *	ogre_root_
	Ogre Root.
boost::mutex	render_mutex_
RenderPanel *	render_panel_
uint32_t	render_requested_
DisplayGroup *	root_display_group_
ros::Time	ros_time_begin_
ros::Duration	ros_time_elapsed_
Ogre::SceneManager *	scene_manager_
	Ogre scene manager associated with this panel.
SelectionManager *	selection_manager_
volatile bool	shutting_down_
bool	target_frame_is_fixed_frame_
TfFrameProperty *	target_frame_property_
	Target coordinate frame we're displaying everything in.
Ogre::SceneNode *	target_scene_node_
ros::NodeHandle	threaded_nh_
ros::CallbackQueue	threaded_queue_
boost::thread_group	threaded_queue_threads_
float	time_update_timer_
pluginlib::ClassLoader< Tool > *	tool_class_loader_
PropertyTreeModel *	tool_property_tree_model_
V_ToolRecord	tools_
ros::NodeHandle	update_nh_
QTimer *	update_timer_
	Update timer. Display::update is called on each display whenever this timer fires.
ViewController *	view_controller_
std::deque< ViewportMouseEvent >	vme_queue_
boost::mutex	vme_queue_mutex_
ros::WallTime	wall_clock_begin_
ros::WallDuration	wall_clock_elapsed_
WindowManagerInterface *	window_manager_
Private Slots
void	updateBackgroundColor ()
void	updateFixedFrame ()
void	updateTargetFrame ()
Private Attributes
DisplayFactory *	display_factory_

Detailed Description

The VisualizationManager class is the central manager class of rviz, holding all the Displays, Tools, ViewControllers, and other managers.

It keeps the current view controller for the main render window. It has a timer which calls update() on all the displays. It creates and holds pointers to the other manager objects: SelectionManager, FrameManager, the PropertyManager s, and Ogre::SceneManager.

The "protected" members should probably all be "private", as VisualizationManager is not intended to be subclassed.

Definition at line 105 of file visualization_manager.h.

Member Typedef Documentation

typedef std::vector<ToolRecord> rviz::VisualizationManager::V_ToolRecord [protected]

Definition at line 494 of file visualization_manager.h.

Constructor & Destructor Documentation

rviz::VisualizationManager::VisualizationManager	(	RenderPanel *	render_panel,
		WindowManagerInterface *	wm = `0`
	)

Constructor Creates managers and sets up global properties.

Parameters:

	render_panel	a pointer to the main render panel widget of the app.
	wm	a pointer to the window manager (which is really just a VisualizationFrame, the top-level container widget of rviz).

Definition at line 82 of file visualization_manager.cpp.

rviz::VisualizationManager::~VisualizationManager ( ) [virtual]

Destructor Stops update timers and destroys all displays, tools, and managers.

Definition at line 159 of file visualization_manager.cpp.

Member Function Documentation

void rviz::VisualizationManager::addDisplay	(	Display *	display,
		bool	enabled
	)

Add a display to be managed by this panel.

Parameters:

display

The display to be added

Definition at line 446 of file visualization_manager.cpp.

void rviz::VisualizationManager::addTool ( const std::string & tool_class_lookup_name )

Create a tool by class lookup name and add it.

Definition at line 568 of file visualization_manager.cpp.

void rviz::VisualizationManager::addViewController	(	const std::string &	class_name,
		const std::string &	name
	)			`[protected]`

Definition at line 670 of file visualization_manager.cpp.

void rviz::VisualizationManager::configChanged ( ) [signal]

Emitted whenever the display configuration changes.

void rviz::VisualizationManager::createColorMaterials ( ) [protected]

Definition at line 239 of file visualization_manager.cpp.

Display * rviz::VisualizationManager::createDisplay	(	const QString &	class_lookup_name,
		const QString &	name,
		bool	enabled
	)

Create and add a display to this panel, by class lookup name.

Parameters:

	class_lookup_name	"lookup name" of the Display subclass, for pluginlib. Should be of the form "packagename/displaynameofclass", like "rviz/Image".
	name	The name of this display instance shown on the GUI, like "Left arm camera".
	enabled	Whether to start enabled

Returns:: A pointer to the new display.

Definition at line 619 of file visualization_manager.cpp.

Tool* rviz::VisualizationManager::getCurrentTool ( ) [inline]

Return the tool currently in use.

See also:: setCurrentTool()

Definition at line 165 of file visualization_manager.h.

ViewController* rviz::VisualizationManager::getCurrentViewController ( ) [inline]

Return the current ViewController in use for the main RenderWindow.

Definition at line 317 of file visualization_manager.h.

std::string rviz::VisualizationManager::getCurrentViewControllerType ( )

Return the type of the current ViewController as a std::string, like "rviz::OrbitViewController".

Definition at line 724 of file visualization_manager.cpp.

Tool* rviz::VisualizationManager::getDefaultTool ( ) [inline]

Get the default tool.

See also:: setDefaultTool()

Definition at line 203 of file visualization_manager.h.

virtual DisplayFactory* rviz::VisualizationManager::getDisplayFactory ( ) const [inline, virtual]

Return a factory for creating Display subclasses based on a class id string.

Implements rviz::DisplayContext.

Definition at line 400 of file visualization_manager.h.

PropertyTreeModel* rviz::VisualizationManager::getDisplayTreeModel ( ) const [inline]

Definition at line 402 of file visualization_manager.h.

QString rviz::VisualizationManager::getFixedFrame ( ) const [virtual]

Return the fixed frame name.

See also:: setFixedFrame()

Implements rviz::DisplayContext.

Definition at line 769 of file visualization_manager.cpp.

uint64_t rviz::VisualizationManager::getFrameCount ( ) const [inline, virtual]

Return the current value of the frame count.

The frame count is just a number which increments each time a frame is rendered. This lets clients check if a new frame has been rendered since the last time they did something.

Implements rviz::DisplayContext.

Definition at line 393 of file visualization_manager.h.

FrameManager* rviz::VisualizationManager::getFrameManager ( ) const [inline, virtual]

Return the FrameManager instance.

Implements rviz::DisplayContext.

Definition at line 386 of file visualization_manager.h.

RenderPanel* rviz::VisualizationManager::getRenderPanel ( ) [inline]

Return the main RenderPanel.

Definition at line 269 of file visualization_manager.h.

double rviz::VisualizationManager::getROSTime ( )

Return the ROS time, in seconds.

Definition at line 634 of file visualization_manager.cpp.

double rviz::VisualizationManager::getROSTimeElapsed ( )

Return the ROS time in seconds since the last reset.

Definition at line 644 of file visualization_manager.cpp.

Ogre::SceneManager* rviz::VisualizationManager::getSceneManager ( ) const [inline, virtual]

Returns the Ogre::SceneManager used for the main RenderPanel.

Implements rviz::DisplayContext.

Definition at line 264 of file visualization_manager.h.

SelectionManager* rviz::VisualizationManager::getSelectionManager ( ) const [inline, virtual]

Return a pointer to the SelectionManager.

Implements rviz::DisplayContext.

Definition at line 349 of file visualization_manager.h.

QString rviz::VisualizationManager::getTargetFrame ( ) const [virtual]

Return the target frame name.

See also:: setTargetFrame()

Implements rviz::DisplayContext.

Definition at line 764 of file visualization_manager.cpp.

tf::TransformListener * rviz::VisualizationManager::getTFClient ( ) const [virtual]

Convenience function: returns getFrameManager()->getTFClient().

Implements rviz::DisplayContext.

Definition at line 430 of file visualization_manager.cpp.

ros::CallbackQueueInterface* rviz::VisualizationManager::getThreadedQueue ( ) [inline, virtual]

Return a CallbackQueue using a different thread than the main GUI one.

Implements rviz::DisplayContext.

Definition at line 380 of file visualization_manager.h.

Tool * rviz::VisualizationManager::getTool ( int index )

Return the tool at a given index in the Tool list. If index is less than 0 or greater than the number of tools, this will fail an assertion.

Definition at line 479 of file visualization_manager.cpp.

std::set< std::string > rviz::VisualizationManager::getToolClasses ( )

Definition at line 503 of file visualization_manager.cpp.

pluginlib::ClassLoader<Tool>* rviz::VisualizationManager::getToolClassLoader ( ) [inline]

Definition at line 382 of file visualization_manager.h.

ros::CallbackQueueInterface* rviz::VisualizationManager::getUpdateQueue ( ) [inline, virtual]

Return the CallbackQueue using the main GUI thread.

Implements rviz::DisplayContext.

Definition at line 375 of file visualization_manager.h.

double rviz::VisualizationManager::getWallClock ( )

Return the wall clock time, in seconds since 1970.

Definition at line 629 of file visualization_manager.cpp.

double rviz::VisualizationManager::getWallClockElapsed ( )

Return the wall clock time in seconds since the last reset.

Definition at line 639 of file visualization_manager.cpp.

WindowManagerInterface* rviz::VisualizationManager::getWindowManager ( ) const [inline, virtual]

Return the window manager, if any.

Implements rviz::DisplayContext.

Definition at line 370 of file visualization_manager.h.

void rviz::VisualizationManager::handleChar	(	QKeyEvent *	event,
		RenderPanel *	panel
	)			`[virtual]`

Handle a single key event for a given RenderPanel.

If the key is Escape, switches to the default Tool (via getDefaultTool()). All other key events are passed to the current Tool (via getCurrentTool()).

Implements rviz::DisplayContext.

Definition at line 656 of file visualization_manager.cpp.

void rviz::VisualizationManager::handleMouseEvent ( const ViewportMouseEvent & event ) [virtual]

Handle a mouse event.

This just copies the given event into an event queue. The events in the queue are processed by onUpdate() which is called from the main thread by a timer every 33ms.

Implements rviz::DisplayContext.

Definition at line 729 of file visualization_manager.cpp.

void rviz::VisualizationManager::incomingROSTime ( ) [protected]

void rviz::VisualizationManager::initialize	(	const StatusCallback &	cb = `StatusCallback()`,
		bool	verbose = `false`
	)

Do initialization that wasn't done in constructor. Sets initial fixed and target frames, adds view controllers and tools, and initializes SelectionManager.

Definition at line 195 of file visualization_manager.cpp.

void rviz::VisualizationManager::load	(	const YAML::Node &	yaml_node,
		const StatusCallback &	cb
	)

Load the properties of each Display and most editable rviz data.

This is what is called when loading a "*.vcg" file.

Parameters:

	yaml_node	The YAML node with the global options, displays, tools, and views. Must be a YAML map.
	cb	An optional callback function to call with status updates, such as "loading displays".

See also:: save()

Definition at line 514 of file visualization_manager.cpp.

void rviz::VisualizationManager::lockRender ( ) [inline]

Lock a mutex to delay calls to Ogre::Root::renderOneFrame().

Definition at line 354 of file visualization_manager.h.

void rviz::VisualizationManager::notifyConfigChanged ( )

Notify this VisualizationManager that something about its display configuration has changed.

Definition at line 743 of file visualization_manager.cpp.

int rviz::VisualizationManager::numTools ( ) [inline]

Definition at line 174 of file visualization_manager.h.

void rviz::VisualizationManager::onIdle ( ) [protected, slot]

Render one frame if requested and enough time has passed since the previous render.

Called at 30Hz from the "idle" timer

Definition at line 343 of file visualization_manager.cpp.

void rviz::VisualizationManager::onUpdate ( ) [protected, slot]

Call update() on all managed objects.

This is the central place where update() is called on most rviz objects. Display objects, the FrameManager, the current ViewController, the SelectionManager, PropertyManager. Also calls ros::spinOnce(), so any callbacks on the global CallbackQueue get called from here as well.

It is called at 30Hz from the update timer.

Definition at line 252 of file visualization_manager.cpp.

void rviz::VisualizationManager::queueRender ( ) [virtual]

Queues a render. Multiple calls before a render happens will only cause a single render.

Note:: This function can be called from any thread.

Implements rviz::DisplayContext.

Definition at line 247 of file visualization_manager.cpp.

void rviz::VisualizationManager::removeAllDisplays ( )

Remove and delete all displays.

Definition at line 453 of file visualization_manager.cpp.

void rviz::VisualizationManager::removeTool ( int index )

Definition at line 487 of file visualization_manager.cpp.

void rviz::VisualizationManager::resetTime ( )

Resets the wall and ROS elapsed time to zero and calls resetDisplays().

Definition at line 435 of file visualization_manager.cpp.

void rviz::VisualizationManager::save ( YAML::Emitter & emitter )

Save the properties of each Display and most editable rviz data.

This is what is called when saving a "*.vcg" file.

Parameters:

config

The object to write to.

See also:: loadDisplayConfig()

Definition at line 595 of file visualization_manager.cpp.

void rviz::VisualizationManager::setCurrentTool ( Tool * tool )

Set the current tool. The current tool is given all mouse and keyboard events which VisualizationManager receives via handleMouseEvent() and handleChar().

See also:: getCurrentTool()

Definition at line 458 of file visualization_manager.cpp.

bool rviz::VisualizationManager::setCurrentViewControllerType ( const std::string & type )

Set the current view controller by specifying the desired type.

This accepts the actual C++ class name (with namespace) of the subclass of ViewController and also accepts a number of variants for backward-compatibility:

"rviz::OrbitViewController", "Orbit"
"rviz::XYOrbitViewController", "XYOrbit", "rviz::SimpleOrbitViewController", "SimpleOrbit"
"rviz::FPSViewController", "FPS"
"rviz::FixedOrientationOrthoViewController", "TopDownOrtho", "Top-down Orthographic"

If type is not one of these and there is not a current ViewController, the type defaults to rviz::OrbitViewController. If type is not one of these and there *is* a current ViewController, nothing happens.

If the selected type is different from the current type, a new instance of the selected type is created, set in the main RenderPanel, and sent out via the viewControllerChanged() signal.

Definition at line 675 of file visualization_manager.cpp.

void rviz::VisualizationManager::setDefaultTool ( Tool * tool )

Set the default tool.

The default tool is selected directly by pressing the Escape key. The default tool is indirectly selected when a Tool returns Finished in the bit field result of Tool::processMouseEvent(). This is how control moves from the InitialPoseTool back to MoveCamera when InitialPoseTool receives a left mouse button release event.

See also:: getDefaultTool()

Definition at line 474 of file visualization_manager.cpp.

void rviz::VisualizationManager::setFixedFrame ( const QString & frame )

Set the coordinate frame we should be transforming all fixed data into.

Parameters:

frame

The name of the frame -- must match the frame name broadcast to libTF

See also:: getFixedFrame()

Definition at line 774 of file visualization_manager.cpp.

void rviz::VisualizationManager::setTargetFrame ( const QString & frame )

Set the coordinate frame whose position the display should track.

The view controller sets the camera position by looking at the position of the target frame relative to the fixed frame and adding that to the position of the camera as controlled by the user. This lets the user keep the virtual camera following a robot, for example, but not spinning the camera when the robot spins.

Parameters:

frame

The target frame name. It must match the frame name broadcast to libTF, or can be the special string "<Fixed Frame>", in which case getTargetFrame() will return the same as getFixedFrame().