Visualization for the apply wrench GUI. More...

#include <rendering/rendering.hh>

Inheritance diagram for gazebo::rendering::ApplyWrenchVisual:

Public Types
enum	Mode { NONE = 0, FORCE = 1, TORQUE = 2 }

Public Types inherited from gazebo::rendering::Visual
enum	VisualType { VT_ENTITY, VT_MODEL, VT_LINK, VT_VISUAL, VT_COLLISION, VT_SENSOR, VT_GUI, VT_PHYSICS }
	Type of visual. More...

Public Member Functions
	ApplyWrenchVisual (const std::string &_name, VisualPtr _parentVis)
	Constructor. More...

virtual	~ApplyWrenchVisual ()
	Destructor. More...

virtual void	Fini ()
	Helper for the destructor. More...

rendering::VisualPtr	GetForceVisual () const
	Returns the force visual. More...

rendering::SelectionObjPtr	GetRotTool () const
	Returns the rotation tool. More...

rendering::VisualPtr	GetTorqueVisual () const
	Returns the torque visual. More...

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

void	Resize ()
	Resize all children according to target link's size. More...

void	SetCoM (const math::Vector3 &_comVector)
	Set the CoM vector and update the position of the torque visual. More...

void	SetForce (const math::Vector3 &_forceVector, const bool _rotatedByMouse)
	Update force vector, force text and mode. More...

void	SetForcePos (const math::Vector3 &_forcePosVector)
	Set the force position vector and update the position of the force visual. More...

void	SetMode (Mode _mode)
	Set the mode to force, torque or none, update colors and visibility accordingly. More...

void	SetTorque (const math::Vector3 &_torqueVector, const bool _rotatedByMouse)
	Update torque vector, torque text and mode. More...

void	UpdateForceVisual ()
	Update the force visual according to the force and force position vectors. More...

void	UpdateTorqueVisual ()
	Update the torque visual according to the torque and CoM vectors. More...

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

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

virtual	~Visual ()
	Destructor. More...

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

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

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

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

void	ClearParent ()
	Clear parents. More...

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

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

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

void	DetachObjects ()
	Detach all objects. More...

void	DetachVisual (VisualPtr _vis)
	Detach a visual. More...

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

void	DisableTrackVisual ()
	Disable tracking of a visual. More...

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

common::Color	GetAmbient () const
	Get the ambient color of the visual. More...

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

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

bool	GetCastShadows () const
	Get whether the visual casts shadows. More...

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

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

unsigned int	GetDepth () const
	Get the depth of this visual, where 0 is the depth of the world visual. More...

common::Color	GetDiffuse () const
	Get the diffuse color of the visual. More...

common::Color	GetEmissive () const
	Get the emissive color of the visual. More...

std::string	GetGeometryType () const
	Get the geometry type. More...

bool	GetHighlighted () const
	Get whether or not the visual is visually highlighted. More...

uint32_t	GetId () const
	Get the id associated with this visual. More...

bool	GetLighting () const
	Get whether or not lighting is enabled. More...

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

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

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

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

VisualPtr	GetNthAncestor (unsigned int _n)
	Get the nth ancestor counting from the world visual. More...

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

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

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

VisualPtr	GetRootVisual ()
	Get the root visual. More...

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

math::Vector3	GetScale ()
	Get the scale. More...

ScenePtr	GetScene () const
	Get current. More...

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

sdf::ElementPtr	GetSDF () const
	Get the visual SDF. More...

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

common::Color	GetSpecular () const
	Get the specular color of the visual. More...

std::string	GetSubMeshName () const
	Get the name of the sub mesh set in the visual's SDF. More...

float	GetTransparency ()
	Get the transparency. More...

Visual::VisualType	GetType () const
	Get type of visual. More...

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

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

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

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

void	Init ()
	Helper for the contructor. More...

void	InsertMesh (const std::string &_meshName, const std::string &_subMesh="", bool _centerSubmesh=false)
	Insert a mesh into Ogre. More...

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

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

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

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

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

void	MakeStatic ()
	Make the visual objects static renderables. More...

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

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. More...

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

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

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

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

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

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

void	SetId (uint32_t _id)
	Set the id associated with this visual. More...

void	SetLighting (bool _lighting)
	Set whether or not to enable or disable lighting. More...

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

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

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

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

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

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

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

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

void	SetScene (ScenePtr _scene)
	Set current scene. More...

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

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

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

void	SetTransparency (float _trans)
	Set the transparency. More...

void	SetType (const Visual::VisualType _type)
	Set type of visual. More...

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

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

void	SetWireframe (bool _show)
	Enable or disable wireframe for this visual. More...

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

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

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

void	ShowBoundingBox ()
	Display the bounding box visual. More...

void	ShowCollision (bool _show)
	Display the collision visuals. More...

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

void	ShowInertia (bool _show)
	Display inertia visuals. More...

void	ShowJoints (bool _show)
	Display joint visuals. More...

void	ShowLinkFrame (bool _show)
	Display link frame visuals. More...

void	ShowSkeleton (bool _show)
	Display the skeleton visuals. More...

void	ToggleLayer (const int32_t _layer)
	Toggle layer visibility. More...

void	ToggleVisible ()
	Toggle whether this visual is visible. More...

void	Update ()
	Update the visual. More...

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

Additional Inherited Members
Static Public Member Functions inherited from gazebo::rendering::Visual
static Visual::VisualType	ConvertVisualType (const msgs::Visual::Type &_type)
	Convert from msgs::Visual::Type to VisualType. More...

static msgs::Visual::Type	ConvertVisualType (const Visual::VisualType &_type)
	Convert from msgs::Visual::Type to VisualType. More...

static void	InsertMesh (const common::Mesh *_mesh, const std::string &_subMesh="", bool _centerSubmesh=false)
	Insert a mesh into Ogre. More...

Protected Member Functions inherited from gazebo::rendering::Visual
	Visual (VisualPrivate &_dataPtr, const std::string &_name, VisualPtr _parent, bool _useRTShader=true)

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

Protected Attributes inherited from gazebo::rendering::Visual
VisualPrivate *	dataPtr

Detailed Description

Visualization for the apply wrench GUI.

Member Enumeration Documentation

enum gazebo::rendering::ApplyWrenchVisual::Mode

Enumerator
NONE	None.
FORCE	Force.
TORQUE	Torque.

Constructor & Destructor Documentation

gazebo::rendering::ApplyWrenchVisual::ApplyWrenchVisual	(	const std::string &	_name,
		VisualPtr	_parentVis
	)

Constructor.

Parameters

[in]	_name	Name of the visual
[in]	_parentVis	Pointer to the parent visual

virtual gazebo::rendering::ApplyWrenchVisual::~ApplyWrenchVisual ( )

virtual

Destructor.

Member Function Documentation

virtual void gazebo::rendering::ApplyWrenchVisual::Fini ( )

virtual

Helper for the destructor.

Reimplemented from gazebo::rendering::Visual.

rendering::VisualPtr gazebo::rendering::ApplyWrenchVisual::GetForceVisual ( ) const

Returns the force visual.

Returns: Pointer to force visual.

rendering::SelectionObjPtr gazebo::rendering::ApplyWrenchVisual::GetRotTool ( ) const

Returns the rotation tool.

Returns: Pointer to rotation tool.

rendering::VisualPtr gazebo::rendering::ApplyWrenchVisual::GetTorqueVisual ( ) const

Returns the torque visual.

Returns: Pointer to torque visual.

void gazebo::rendering::ApplyWrenchVisual::Load ( )

virtual

Load the visual with default parameters.

Reimplemented from gazebo::rendering::Visual.

void gazebo::rendering::ApplyWrenchVisual::Resize ( )

Resize all children according to target link's size.

void gazebo::rendering::ApplyWrenchVisual::SetCoM ( const math::Vector3 & _comVector )

Set the CoM vector and update the position of the torque visual.

Parameters

[in] _comVector New vector.

void gazebo::rendering::ApplyWrenchVisual::SetForce	(	const math::Vector3 &	_forceVector,
		const bool	_rotatedByMouse
	)

Update force vector, force text and mode.

Parameters

[in]	_forceVector	New vector.
[in]	_rotatedByMouse	Whether the rotation comes from the mouse or not.

void gazebo::rendering::ApplyWrenchVisual::SetForcePos ( const math::Vector3 & _forcePosVector )

Set the force position vector and update the position of the force visual.

Parameters

[in] _forcePosVector New vector.

void gazebo::rendering::ApplyWrenchVisual::SetMode ( Mode _mode )

Set the mode to force, torque or none, update colors and visibility accordingly.

Parameters

[in] _mode New mode.

void gazebo::rendering::ApplyWrenchVisual::SetTorque	(	const math::Vector3 &	_torqueVector,
		const bool	_rotatedByMouse
	)

Update torque vector, torque text and mode.

Parameters

[in]	_torqueVector	New vector.
[in]	_rotatedByMouse	Whether the rotation comes from the mouse or not.

void gazebo::rendering::ApplyWrenchVisual::UpdateForceVisual ( )

Update the force visual according to the force and force position vectors.

void gazebo::rendering::ApplyWrenchVisual::UpdateTorqueVisual ( )

Update the torque visual according to the torque and CoM vectors.

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

ApplyWrenchVisual.hh

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation