Helper class to store link data. More...

#include <ModelData.hh>

Inherits QObject.

Public Slots
void	ShowCollisions (const bool _show)
	Show or hide collision visuals. More...

void	ShowLinkFrame (const bool _show)
	Show or hide link frame visuals. More...

void	ShowVisuals (const bool _show)
	Show or hide visual visuals. More...

Public Member Functions
	LinkData ()
	Constructor. More...

	~LinkData ()
	Destructor. More...

void	AddCollision (rendering::VisualPtr _collisionVis, const msgs::Collision *_msg=NULL)
	Add a collision to the link. More...

void	AddVisual (rendering::VisualPtr _visual)
	Add a visual to the link. More...

LinkData *	Clone (const std::string &_newName)
	Clone the link data. More...

double	ComputeVolume () const
	Computes the volume of the link. More...

rendering::VisualPtr	LinkVisual () const
	Get the visual for the link. More...

void	Load (sdf::ElementPtr _sdf)
	Load the link with data from SDF. More...

std::string	Name () const
	Get the name of the link. More...

ignition::math::Pose3d	Pose () const
	Get the pose of the link. More...

const std::map< std::string, ignition::math::Vector3d > &	Scales () const
	Get the scale of all of the link's children. More...

void	SetLinkVisual (const rendering::VisualPtr _visual)
	Set the visual for the link. More...

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

void	SetPose (const ignition::math::Pose3d &_pose3d)
	Set the pose of the link. More...

void	SetScales (const std::map< std::string, ignition::math::Vector3d > &_scales)
	Set the scales of the link. More...

void	UpdateConfig ()
	Update the inspector widget if necessary. More...

void	UpdateInspectorScale ()
	Update the scale of all the inspectors, making the necessary conversions to update inertial information. More...

Static Public Member Functions
static ignition::math::Vector3d	ComputeMomentOfInertia (const msgs::Collision &_collision, const double _mass)
	Computes mass moment of inertia for a link. More...

static double	ComputeVolume (const msgs::Collision &_collision)
	Computes the volume of a link. More...

Public Attributes
std::map< rendering::VisualPtr, msgs::Collision >	collisions
	Collisions of the link. More...

std::vector< msgs::Collision * >	collisionUpdateMsgs
	Msgs for updating collision visuals. More...

std::map< rendering::VisualPtr, msgs::Collision >	deletedCollisions
	Deleted collisions of the link. More...

std::map< rendering::VisualPtr, msgs::Visual >	deletedVisuals
	Deleted visuals of the link. More...

LinkInspector *	inspector
	Inspector for configuring link properties. More...

rendering::LinkFrameVisualPtr	linkFrameVis
	Link frame visual. More...

sdf::ElementPtr	linkSDF
	SDF representing the link data. More...

bool	nested
	Flag set to true if this is a link of a nested model. More...

std::map< std::string, ignition::math::Vector3d >	scales
	Scale of all collisions and visuals in the link, indexed by their visual's names. More...

bool	showCollisions = true
	True if all collisions are currently visible, false otherwise. More...

bool	showLinkFrame = true
	True if all link frames are currently visible, false otherwise. More...

bool	showVisuals = true
	True if all visuals are currently visible, false otherwise. More...

std::map< rendering::VisualPtr, msgs::Visual >	visuals
	Visuals of the link. More...

std::vector< msgs::Visual * >	visualUpdateMsgs
	Msgs for updating visuals. More...

Detailed Description

Helper class to store link data.

Constructor & Destructor Documentation

◆ LinkData()

LinkData ( )

Constructor.

◆ ~LinkData()

~LinkData ( )

Destructor.

Member Function Documentation

◆ AddCollision()

void AddCollision	(	rendering::VisualPtr	_collisionVis,
		const msgs::Collision *	_msg = `NULL`
	)

Add a collision to the link.

Parameters

[in]	_collisionVis	Visual representing the collision.
[in]	_msg	Optional message containing collision params.

◆ AddVisual()

void AddVisual ( rendering::VisualPtr _visual )

Add a visual to the link.

Parameters

[in] _visual Visual to be added.

◆ Clone()

LinkData* Clone ( const std::string & _newName )

Clone the link data.

Parameters

[in] _newName Name to give to the cloned link.

Returns: A clone of this link data.

◆ ComputeMomentOfInertia()

static ignition::math::Vector3d ComputeMomentOfInertia	(	const msgs::Collision &	_collision,
		const double	_mass
	)

static

Computes mass moment of inertia for a link.

Parameters

[in]	_collision	A collision message.
[in]	_mass	The mass of the link.

Returns: Vector of principal moments of inertia.

◆ ComputeVolume() [1/2]

static double ComputeVolume ( const msgs::Collision & _collision )

static

Computes the volume of a link.

Parameters

[in] _collision A collision message.

Returns: The computed volume.

◆ ComputeVolume() [2/2]

double ComputeVolume ( ) const

Computes the volume of the link.

Returns: The volume.

◆ LinkVisual()

rendering::VisualPtr LinkVisual ( ) const

Get the visual for the link.

Returns: Visual for the link.

◆ Load()

void Load ( sdf::ElementPtr _sdf )

Load the link with data from SDF.

Parameters

[in] _sdf Link SDF element.

◆ Name()

std::string Name ( ) const

Get the name of the link.

Returns: Name of link.

◆ Pose()

ignition::math::Pose3d Pose ( ) const

Get the pose of the link.

Returns: Pose of link.

◆ Scales()

const std::map<std::string, ignition::math::Vector3d>& Scales ( ) const

Get the scale of all of the link's children.

Returns: Scales of visuals and collisions.

◆ SetLinkVisual()

void SetLinkVisual ( const rendering::VisualPtr _visual )

Set the visual for the link.

Parameters

[in] _visual Visual for the link.

◆ SetName()

void SetName ( const std::string & _name )

Set the name of the link.

Parameters

[in] _name Name of link.

◆ SetPose()

void SetPose ( const ignition::math::Pose3d & _pose3d )

Set the pose of the link.

Parameters

[in] _pose Pose of link.

◆ SetScales()

void SetScales ( const std::map< std::string, ignition::math::Vector3d > & _scales )

Set the scales of the link.

This function calls UpdateInspectorScale.

See also: UpdateInspectorScale

Parameters

[in] _scale Scales of all of the link's children.

◆ ShowCollisions

void ShowCollisions ( const bool _show )

slot

Show or hide collision visuals.

Parameters

[in] _show True to show, false to hide.

◆ ShowLinkFrame

void ShowLinkFrame ( const bool _show )

slot

Show or hide link frame visuals.

Parameters

[in] _show True to show, false to hide.

◆ ShowVisuals

void ShowVisuals ( const bool _show )

slot

Show or hide visual visuals.

Parameters

[in] _show True to show, false to hide.

◆ UpdateConfig()

void UpdateConfig ( )

Update the inspector widget if necessary.

◆ UpdateInspectorScale()

void UpdateInspectorScale ( )

Update the scale of all the inspectors, making the necessary conversions to update inertial information.

The scale is updated based on the current geometry of 3D visuals. This does not alter the internal scale value returned by Scale().

See also: SetScale

Member Data Documentation

◆ collisions

std::map<rendering::VisualPtr, msgs::Collision> collisions

Collisions of the link.

◆ collisionUpdateMsgs

std::vector<msgs::Collision *> collisionUpdateMsgs

Msgs for updating collision visuals.

◆ deletedCollisions

std::map<rendering::VisualPtr, msgs::Collision> deletedCollisions

Deleted collisions of the link.

◆ deletedVisuals

std::map<rendering::VisualPtr, msgs::Visual> deletedVisuals

Deleted visuals of the link.

◆ inspector

LinkInspector* inspector

Inspector for configuring link properties.

◆ linkFrameVis

rendering::LinkFrameVisualPtr linkFrameVis

Link frame visual.

◆ linkSDF

sdf::ElementPtr linkSDF

SDF representing the link data.

◆ nested

bool nested

Flag set to true if this is a link of a nested model.

◆ scales

std::map<std::string, ignition::math::Vector3d> scales

Scale of all collisions and visuals in the link, indexed by their visual's names.

◆ showCollisions

bool showCollisions = true

True if all collisions are currently visible, false otherwise.

◆ showLinkFrame

bool showLinkFrame = true

True if all link frames are currently visible, false otherwise.

◆ showVisuals

bool showVisuals = true

True if all visuals are currently visible, false otherwise.

◆ visuals

std::map<rendering::VisualPtr, msgs::Visual> visuals

Visuals of the link.

◆ visualUpdateMsgs

std::vector<msgs::Visual *> visualUpdateMsgs

Msgs for updating visuals.

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

ModelData.hh

Public Slots

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LinkData()

◆ ~LinkData()

Member Function Documentation

◆ AddCollision()

◆ AddVisual()

◆ Clone()

◆ ComputeMomentOfInertia()

◆ ComputeVolume() [1/2]

◆ ComputeVolume() [2/2]

◆ LinkVisual()

◆ Load()

◆ Name()

◆ Pose()

◆ Scales()

◆ SetLinkVisual()

◆ SetName()

◆ SetPose()

◆ SetScales()

◆ ShowCollisions

◆ ShowLinkFrame

◆ ShowVisuals

◆ UpdateConfig()

◆ UpdateInspectorScale()

Member Data Documentation

◆ collisions

◆ collisionUpdateMsgs

◆ deletedCollisions

◆ deletedVisuals

◆ inspector

◆ linkFrameVis

◆ linkSDF

◆ nested

◆ scales

◆ showCollisions

◆ showLinkFrame

◆ showVisuals

◆ visuals

◆ visualUpdateMsgs