gazebo::rendering::JointVisual Class Reference

Visualization for joints. More...

#include <rendering/rendering.hh>

Inheritance diagram for gazebo::rendering::JointVisual:

Public Member Functions
	JointVisual (const std::string &_name, VisualPtr _vis)
	Constructor. More...
virtual	~JointVisual ()
	Destructor. More...
ArrowVisualPtr	CreateAxis (const math::Vector3 &_axis, bool _useParentFrame, msgs::Joint::Type _type)
	Create an axis and attach it to the joint visual. More...
ArrowVisualPtr	GetArrowVisual () const
	Get the arrow visual which represents the axis attached to the child link. More...
JointVisualPtr	GetParentAxisVisual () const
	Get the JointVisual which is attached to the parent link. More...
void	Load (ConstJointPtr &_msg)
	Load the joint visual based on a message. More...
void	Load (ConstJointPtr &_msg, const math::Pose &_worldPose)
virtual void	SetVisible (bool _visible, bool _cascade=true)
	Set whether the visual is visible. More...
void	UpdateAxis (ArrowVisualPtr _arrowVisual, const math::Vector3 &_axis, bool _useParentFrame, msgs::Joint::Type _type)
	Update an axis' arrow visual. More...
void	UpdateFromMsg (ConstJointPtr &_msg)
	Update the joint visual based on a message. 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...
ignition::math::Vector3d	DerivedScale () const
	Get the scale of the visual as inherited from all parents. More...
float	DerivedTransparency () const
	Get the transparency of the visual as inherited from all parents. 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...
virtual void	Fini ()
	Helper for the destructor. 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...
ignition::math::Vector3d	GetGeometrySize () const
	Get the geometry size. 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...
bool	InheritTransparency () const
	Get whether this visual inherits transparency from parent. 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	IsAncestorOf (const rendering::VisualPtr _visual) const
	Check if this visual is an ancestor of another visual. More...
bool	IsDescendantOf (const rendering::VisualPtr _visual) const
	Check if this visual is a descendant of another visual. 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...
virtual void	Load ()
	Load the visual with default 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, const bool _cascade=true)
	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, const bool _cascade=true)
	Set the diffuse color of the visual. More...
virtual void	SetEmissive (const common::Color &_color, const bool _cascade=true)
	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	SetInheritTransparency (const bool _inherit)
	Set whether to inherit transparency from parent. More...
void	SetLighting (bool _lighting)
	Set whether or not to enable or disable lighting. More...
void	SetMaterial (const std::string &_materialName, bool _unique=true, const bool _cascade=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, const bool _cascade=true)
	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	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...
bool	UseRTShader () const
	Get whether this visual uses RT shader system. More...
bool	Wireframe () const
	Get whether wireframe is enabled for this visual. More...

Additional Inherited Members
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...
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 joints.

Constructor & Destructor Documentation

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

Constructor.

Parameters

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

virtual gazebo::rendering::JointVisual::~JointVisual ( )

virtual

Destructor.

Member Function Documentation

ArrowVisualPtr gazebo::rendering::JointVisual::CreateAxis	(	const math::Vector3 &	_axis,
		bool	_useParentFrame,
		msgs::Joint::Type	_type
	)

Create an axis and attach it to the joint visual.

Parameters

[in]	_axis	Axis vector
[in]	_useParentFrame	True to use parent frame instead of the joint frame.
[in]	_type	Type of axis.

Returns

Newly created arrow visual.

ArrowVisualPtr gazebo::rendering::JointVisual::GetArrowVisual

(

)

const

Get the arrow visual which represents the axis attached to the child link.

returns Arrow visual.

JointVisualPtr gazebo::rendering::JointVisual::GetParentAxisVisual

(

)

const

Get the JointVisual which is attached to the parent link.

returns Parent axis visual.

void gazebo::rendering::JointVisual::Load

(

ConstJointPtr &

_msg

)

Load the joint visual based on a message.

Parameters

[in]

_msg

Joint message

void gazebo::rendering::JointVisual::Load	(	ConstJointPtr &	_msg,
		const math::Pose &	_worldPose
	)

virtual void gazebo::rendering::JointVisual::SetVisible ( bool  _visible, bool  _cascade = true  )

virtual

Set whether the visual is visible.

Parameters

[in]	_visible	set this node visible.
[in]	_cascade	setting this parameter in children too.

Reimplemented from gazebo::rendering::Visual.

void gazebo::rendering::JointVisual::UpdateAxis	(	ArrowVisualPtr	_arrowVisual,
		const math::Vector3 &	_axis,
		bool	_useParentFrame,
		msgs::Joint::Type	_type
	)

Update an axis' arrow visual.

Parameters

[in]	_arrowVisual	Arrow visual to be updated.
[in]	_axis	Axis vector.
[in]	_useParentFrame	True to use parent frame instead of the joint frame.
[in]	_type	Type of axis.

void gazebo::rendering::JointVisual::UpdateFromMsg

(

ConstJointPtr &

_msg

)

Update the joint visual based on a message.

Parameters

[in]

_msg

Joint message

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

• JointVisual.hh