Contact visualization. More...

#include <rendering/rendering.hh>

Inheritance diagram for gazebo::rendering::ContactVisual:

Public Member Functions
	ContactVisual (const std::string &_name, VisualPtr _vis, const std::string &_topicName)
	Constructor.

virtual	~ContactVisual ()
	Destructor.

void	SetEnabled (bool _enabled)
	Set to true to enable contact visualization.

Public Member Functions inherited from gazebo::rendering::Visual
	Visual (const std::string &_name, VisualPtr _parent, bool _useRTShader=true)
	Constructor.

	Visual (const std::string &_name, ScenePtr _scene, bool _useRTShader=true)
	Constructor.

virtual	~Visual ()
	Destructor.

void	AttachAxes ()
	Attach visualization axes.

void	AttachLineVertex (DynamicLines *_line, unsigned int _index)
	Attach a vertex of a line to the position of the visual.

Ogre::MovableObject *	AttachMesh (const std::string &_meshName, const std::string &_objName="")
	Attach a mesh to this visual by name.

void	AttachObject (Ogre::MovableObject *_obj)
	Attach a renerable object to the visual.

void	AttachVisual (VisualPtr _vis)
	Attach a visual to this visual.

void	ClearParent ()
	Clear parents.

VisualPtr	Clone (const std::string &_name, VisualPtr _newParent)
	Clone the visual with a new name.

DynamicLines *	CreateDynamicLine (RenderOpType _type=RENDERING_LINE_STRIP)
	Add a line to the visual.

void	DeleteDynamicLine (DynamicLines *_line)
	Delete a dynamic line.

void	DetachObjects ()
	Detach all objects.

void	DetachVisual (VisualPtr _vis)
	Detach a visual.

void	DetachVisual (const std::string &_name)
	Detach a visual.

void	DisableTrackVisual ()
	Disable tracking of a visual.

void	EnableTrackVisual (VisualPtr _vis)
	Set one visual to track/follow another.

void	Fini ()
	Helper for the destructor.

unsigned int	GetAttachedObjectCount () const
	Return the number of attached movable objects.

math::Box	GetBoundingBox () const
	Get the bounding box for the visual.

VisualPtr	GetChild (unsigned int _index)
	Get an attached visual based on an index.

unsigned int	GetChildCount ()
	Get the number of attached visuals.

std::string	GetMaterialName () const
	Get the name of the material.

std::string	GetMeshName () const
	The name of the mesh set in the visual's SDF.

std::string	GetName () const
	Get the name of the visual.

std::string	GetNormalMap () const
	Get the normal map.

VisualPtr	GetParent () const
	Get the parent visual, if one exists.

math::Pose	GetPose () const
	Get the pose of the visual.

math::Vector3	GetPosition () const
	Get the position of the visual.

VisualPtr	GetRootVisual ()
	Get the root visual.

math::Quaternion	GetRotation () const
	Get the rotation of the visual.

math::Vector3	GetScale ()
	Get the scale.

ScenePtr	GetScene () const
	Get current.

Ogre::SceneNode *	GetSceneNode () const
	Return the scene Node of this visual entity.

std::string	GetShaderType () const
	Get the shader type.

float	GetTransparency ()
	Get the transparency.

uint32_t	GetVisibilityFlags ()
	Get visibility flags for this visual and all children.

bool	GetVisible () const
	Get whether the visual is visible.

math::Pose	GetWorldPose () const
	Get the global pose of the node.

bool	HasAttachedObject (const std::string &_name)
	Returns true if an object with _name is attached.

void	Init ()
	Helper for the contructor.

void	InsertMesh (const std::string &_meshName)
	Insert a mesh into Ogre.

bool	IsPlane () const
	Return true if the visual is a plane.

bool	IsStatic () const
	Return true if the visual is a static geometry.

void	Load (sdf::ElementPtr _sdf)
	Load the visual with a set of parameters.

virtual void	Load ()
	Load the visual with default parameters.

void	LoadFromMsg (ConstVisualPtr &_msg)
	Load from a message.

void	LoadPlugin (const std::string &_filename, const std::string &_name, sdf::ElementPtr _sdf)
	Load a plugin.

void	MakeStatic ()
	Make the visual objects static renderables.

void	MoveToPosition (const math::Pose &_pose, double _time)
	Move to a pose and over a given time.

void	MoveToPositions (const std::vector< math::Pose > &_pts, double _time, boost::function< void()> _onComplete=NULL)
	Move to a series of pose and over a given time.

void	RemovePlugin (const std::string &_name)
	Remove a running plugin.

void	SetAmbient (const common::Color &_color)
	Set the ambient color of the visual.

void	SetCastShadows (bool _shadows)
	Set whether the visual should cast shadows.

void	SetDiffuse (const common::Color &_color)
	Set the diffuse color of the visual.

virtual void	SetEmissive (const common::Color &_color)
	Set the emissive value.

void	SetHighlighted (bool _highlighted)
	Set the visual to be visually highlighted.

void	SetMaterial (const std::string &_materialName, bool _unique=true)
	Set the material.

void	SetName (const std::string &_name)
	Set the name of the visual.

void	SetNormalMap (const std::string &_nmap)
	Set the normal map.

void	SetPose (const math::Pose &_pose)
	Set the pose of the visual.

void	SetPosition (const math::Vector3 &_pos)
	Set the position of the visual.

void	SetRibbonTrail (bool _value, const common::Color &_initialColor, const common::Color &_changeColor)
	True on or off a ribbon trail.

void	SetRotation (const math::Quaternion &_rot)
	Set the rotation of the visual.

void	SetScale (const math::Vector3 &_scale)
	Set the scale.

void	SetScene (ScenePtr _scene)
	Set current scene.

void	SetShaderType (const std::string &_type)
	Set the shader type for the visual's material.

void	SetSkeletonPose (const msgs::PoseAnimation &_pose)
	Set animation skeleton pose.

void	SetSpecular (const common::Color &_color)
	Set the specular color of the visual.

void	SetTransparency (float _trans)
	Set the transparency.

void	SetVisibilityFlags (uint32_t _flags)
	Set visibility flags for this visual and all children.

void	SetVisible (bool _visible, bool _cascade=true)
	Set whether the visual is visible.

void	SetWorldPose (const math::Pose _pose)
	Set the world pose of the visual.

void	SetWorldPosition (const math::Vector3 &_pos)
	Set the world linear position of the visual.

void	SetWorldRotation (const math::Quaternion &_rot)
	Set the world orientation of the visual.

void	ShowBoundingBox ()
	Display the bounding box visual.

void	ShowCollision (bool _show)
	Display the collision visuals.

void	ShowCOM (bool _show)
	Display Center of Mass visuals.

void	ShowJoints (bool _show)
	Display joint visuals.

void	ShowSkeleton (bool _show)
	Display the skeleton visuals.

void	ToggleVisible ()
	Toggle whether this visual is visible.

void	Update ()
	Update the visual.

void	UpdateFromMsg (ConstVisualPtr &_msg)
	Update a visual based on a message.

Additional Inherited Members
Static Public Member Functions inherited from gazebo::rendering::Visual
static void	InsertMesh (const common::Mesh *_mesh)
	Insert a mesh into Ogre.

Protected Attributes inherited from gazebo::rendering::Visual
VisualPtr	parent
	Parent visual.

ScenePtr	scene
	Pointer to the visual's scene.

Ogre::SceneNode *	sceneNode
	Pointer to the visual's scene node in Ogre.

Detailed Description

Contact visualization.

This class visualizes contact points by drawing arrows in the 3D environment.

Constructor & Destructor Documentation

gazebo::rendering::ContactVisual::ContactVisual	(	const std::string &	_name,
		VisualPtr	_vis,
		const std::string &	_topicName
	)

Constructor.

Parameters

[in]	_name	Name of the ContactVisual
[in]	_vis	Pointer the parent Visual
[in]	_topicName	Name of the topic which publishes the contact information.

virtual gazebo::rendering::ContactVisual::~ContactVisual ( )

virtual

Destructor.

Member Function Documentation

void gazebo::rendering::ContactVisual::SetEnabled ( bool _enabled )

Set to true to enable contact visualization.

Parameters

[in] _enabled True to show contacts, false to hide.

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

ContactVisual.hh

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation