Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
gazebo::rendering::Visual Class Reference

A renderable object. More...

#include <rendering/rendering.hh>

Inheritance diagram for gazebo::rendering::Visual:
Inheritance graph
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Public Types

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

 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...
 
DynamicLinesCreateDynamicLine (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...
 
virtual 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...
 
bool UseRTShader () const
 Get whether this visual uses RT shader system. More...
 
bool Wireframe () const
 Get whether wireframe is enabled for this visual. More...
 

Static Public Member Functions

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

 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

VisualPrivatedataPtr
 

Detailed Description

A renderable object.

Member Enumeration Documentation

Type of visual.

Enumerator
VT_ENTITY 

Entity visual.

VT_MODEL 

Model visual.

VT_LINK 

Link visual.

VT_VISUAL 

Visual visual.

VT_COLLISION 

Collision visual.

VT_SENSOR 

Sensor visual.

VT_GUI 

GUI visual.

VT_PHYSICS 

Physics data visual.

Constructor & Destructor Documentation

gazebo::rendering::Visual::Visual ( const std::string &  _name,
VisualPtr  _parent,
bool  _useRTShader = true 
)

Constructor.

Parameters
[in]_nameName of the visual.
[in]_parentParent of the visual.
[in]_useRTShaderTrue if the visual should use the real-time shader system (RTShader).
gazebo::rendering::Visual::Visual ( const std::string &  _name,
ScenePtr  _scene,
bool  _useRTShader = true 
)

Constructor.

Parameters
[in]_nameName of the visual.
[in]_sceneScene containing the visual.
[in]_useRTShaderTrue if the visual should use the real-time shader system (RTShader).
virtual gazebo::rendering::Visual::~Visual ( )
virtual

Destructor.

gazebo::rendering::Visual::Visual ( VisualPrivate _dataPtr,
const std::string &  _name,
VisualPtr  _parent,
bool  _useRTShader = true 
)
protected
gazebo::rendering::Visual::Visual ( VisualPrivate _dataPtr,
const std::string &  _name,
ScenePtr  _scene,
bool  _useRTShader = true 
)
protected

Member Function Documentation

void gazebo::rendering::Visual::AttachLineVertex ( DynamicLines _line,
unsigned int  _index 
)

Attach a vertex of a line to the position of the visual.

Parameters
[in]_lineLine to attach to this visual.
[in]_indexIndex of the line vertex to attach.
Ogre::MovableObject* gazebo::rendering::Visual::AttachMesh ( const std::string &  _meshName,
const std::string &  _subMesh = "",
bool  _centerSubmesh = false,
const std::string &  _objName = "" 
)

Attach a mesh to this visual by name.

Parameters
[in]_meshNameName of the mesh.
[in]_subMeshName of the submesh. Empty string to use all submeshes.
[in]_centerSubmeshTrue to center a submesh.
[in]_objNameName of the attached Object to put the mesh onto.
void gazebo::rendering::Visual::AttachObject ( Ogre::MovableObject *  _obj)

Attach a renerable object to the visual.

Parameters
[in]_objA movable object to attach to the visual.
void gazebo::rendering::Visual::AttachVisual ( VisualPtr  _vis)

Attach a visual to this visual.

Parameters
[in]_visVisual to attach.
void gazebo::rendering::Visual::ClearParent ( )

Clear parents.

VisualPtr gazebo::rendering::Visual::Clone ( const std::string &  _name,
VisualPtr  _newParent 
)

Clone the visual with a new name.

Parameters
[in]_nameName of the cloned Visual.
[in]_newParentParent of the cloned Visual.
Returns
The visual.
static Visual::VisualType gazebo::rendering::Visual::ConvertVisualType ( const msgs::Visual::Type &  _type)
static

Convert from msgs::Visual::Type to VisualType.

Parameters
[in]_typeA msgs::Visual::Type enum.
Returns
VisualType enum.
static msgs::Visual::Type gazebo::rendering::Visual::ConvertVisualType ( const Visual::VisualType _type)
static

Convert from msgs::Visual::Type to VisualType.

Parameters
[in]_typeVisualType enum.
Returns
A msgs::Visual::Type enum.
DynamicLines* gazebo::rendering::Visual::CreateDynamicLine ( RenderOpType  _type = RENDERING_LINE_STRIP)

Add a line to the visual.

Parameters
[in]_typeThe type of line to make.
Returns
A pointer to the new dynamic line.
void gazebo::rendering::Visual::DeleteDynamicLine ( DynamicLines _line)

Delete a dynamic line.

Parameters
[in]_linePointer to the line to delete.
ignition::math::Vector3d gazebo::rendering::Visual::DerivedScale ( ) const

Get the scale of the visual as inherited from all parents.

Returns
The derived scaling factor.
float gazebo::rendering::Visual::DerivedTransparency ( ) const

Get the transparency of the visual as inherited from all parents.

Returns
The derived transparency.
void gazebo::rendering::Visual::DetachObjects ( )

Detach all objects.

void gazebo::rendering::Visual::DetachVisual ( VisualPtr  _vis)

Detach a visual.

Parameters
[in]_visVisual to detach.
void gazebo::rendering::Visual::DetachVisual ( const std::string &  _name)

Detach a visual.

Parameters
[in]_nameName of the visual to detach.
void gazebo::rendering::Visual::DisableTrackVisual ( )

Disable tracking of a visual.

void gazebo::rendering::Visual::EnableTrackVisual ( VisualPtr  _vis)

Set one visual to track/follow another.

Parameters
[in]_visVisual to track.
virtual void gazebo::rendering::Visual::Fini ( )
virtual
common::Color gazebo::rendering::Visual::GetAmbient ( ) const

Get the ambient color of the visual.

Returns
Ambient color.
unsigned int gazebo::rendering::Visual::GetAttachedObjectCount ( ) const

Return the number of attached movable objects.

Returns
The number of attached movable objects.
math::Box gazebo::rendering::Visual::GetBoundingBox ( ) const

Get the bounding box for the visual.

Returns
The bounding box in world coordinates.
bool gazebo::rendering::Visual::GetCastShadows ( ) const

Get whether the visual casts shadows.

Returns
True if the visual casts shadows.
VisualPtr gazebo::rendering::Visual::GetChild ( unsigned int  _index)

Get an attached visual based on an index.

Index should be between 0 and Visual::GetChildCount.

Parameters
[in]_indexIndex of the child to retreive.
Returns
Pointer to the child visual, NULL if index is invalid.
unsigned int gazebo::rendering::Visual::GetChildCount ( )

Get the number of attached visuals.

Returns
The number of children.
unsigned int gazebo::rendering::Visual::GetDepth ( ) const

Get the depth of this visual, where 0 is the depth of the world visual.

Returns
This visual's depth.
common::Color gazebo::rendering::Visual::GetDiffuse ( ) const

Get the diffuse color of the visual.

Returns
Diffuse color.
common::Color gazebo::rendering::Visual::GetEmissive ( ) const

Get the emissive color of the visual.

Returns
Emissive color.
ignition::math::Vector3d gazebo::rendering::Visual::GetGeometrySize ( ) const

Get the geometry size.

Returns
Size of geometry.
std::string gazebo::rendering::Visual::GetGeometryType ( ) const

Get the geometry type.

Returns
Type of geometry in string.
bool gazebo::rendering::Visual::GetHighlighted ( ) const

Get whether or not the visual is visually highlighted.

This is most often means that an object is selected by a user via the GUI.

Returns
True if the visual is highlighted.
uint32_t gazebo::rendering::Visual::GetId ( ) const

Get the id associated with this visual.

bool gazebo::rendering::Visual::GetLighting ( ) const

Get whether or not lighting is enabled.

Returns
True if lighting is enabled.
std::string gazebo::rendering::Visual::GetMaterialName ( ) const

Get the name of the material.

Returns
The name of the visual applied to this visual.
std::string gazebo::rendering::Visual::GetMeshName ( ) const

The name of the mesh set in the visual's SDF.

Returns
Name of the mesh.
std::string gazebo::rendering::Visual::GetName ( ) const

Get the name of the visual.

Returns
The name of the visual.
std::string gazebo::rendering::Visual::GetNormalMap ( ) const

Get the normal map.

Returns
The name of the normal map material.
VisualPtr gazebo::rendering::Visual::GetNthAncestor ( unsigned int  _n)

Get the nth ancestor counting from the world visual.

GetNthAncestor(0) returns the world visual. GetNthAncestor(1) returns the RootVisual. GetNthAncestor(2) returns the ancestor which is a child of the root visual and so on.

Parameters
[in]_nDepth of the ancestor.
Returns
The nth ancestor counting from the world.
VisualPtr gazebo::rendering::Visual::GetParent ( ) const

Get the parent visual, if one exists.

Returns
Pointer to the parent visual, NULL if no parent.
math::Pose gazebo::rendering::Visual::GetPose ( ) const

Get the pose of the visual.

Returns
The Visual's pose.
math::Vector3 gazebo::rendering::Visual::GetPosition ( ) const

Get the position of the visual.

Returns
The visual's position.
VisualPtr gazebo::rendering::Visual::GetRootVisual ( )

Get the root visual.

Returns
The root visual, which is one level below the world visual.
math::Quaternion gazebo::rendering::Visual::GetRotation ( ) const

Get the rotation of the visual.

Returns
The visual's rotation.
math::Vector3 gazebo::rendering::Visual::GetScale ( )

Get the scale.

Returns
The scaling factor.
ScenePtr gazebo::rendering::Visual::GetScene ( ) const

Get current.

Returns
Pointer to the scene.
Ogre::SceneNode* gazebo::rendering::Visual::GetSceneNode ( ) const

Return the scene Node of this visual entity.

Returns
The Ogre scene node.
sdf::ElementPtr gazebo::rendering::Visual::GetSDF ( ) const

Get the visual SDF.

Note that visuals are abstract. This SDF could be associated with a visual that represents a model, a link, a visual (inside a link), or a visualization object (e.g. LaserVisual). Therefore this SDF may store more fields than actually used.

Returns
SDF of the visual.
std::string gazebo::rendering::Visual::GetShaderType ( ) const

Get the shader type.

Returns
String of the shader type: "vertex", "pixel", "normal_map_object_space", "normal_map_tangent_space".
common::Color gazebo::rendering::Visual::GetSpecular ( ) const

Get the specular color of the visual.

Returns
Specular color.
std::string gazebo::rendering::Visual::GetSubMeshName ( ) const

Get the name of the sub mesh set in the visual's SDF.

Returns
Name of the submesh. Empty string if no submesh is specified.
float gazebo::rendering::Visual::GetTransparency ( )

Get the transparency.

Returns
The transparency.
Visual::VisualType gazebo::rendering::Visual::GetType ( ) const

Get type of visual.

Returns
Visual type.
uint32_t gazebo::rendering::Visual::GetVisibilityFlags ( )

Get visibility flags for this visual and all children.

Returns
The visiblity flags.
See Also
GZ_VISIBILITY_ALL
GZ_VISIBILITY_GUI
GZ_VISIBILITY_SELECTABLE
bool gazebo::rendering::Visual::GetVisible ( ) const

Get whether the visual is visible.

Returns
True if the visual is visible.
math::Pose gazebo::rendering::Visual::GetWorldPose ( ) const

Get the global pose of the node.

Returns
The pose in the world coordinate frame.
bool gazebo::rendering::Visual::HasAttachedObject ( const std::string &  _name)

Returns true if an object with _name is attached.

Parameters
[in]_nameName of an object to find.
bool gazebo::rendering::Visual::InheritTransparency ( ) const

Get whether this visual inherits transparency from parent.

Returns
True if the visual inherits transparency.
void gazebo::rendering::Visual::Init ( )

Helper for the contructor.

void gazebo::rendering::Visual::InsertMesh ( const std::string &  _meshName,
const std::string &  _subMesh = "",
bool  _centerSubmesh = false 
)

Insert a mesh into Ogre.

Parameters
[in]_meshNameName of the mesh to insert.
[in]_subMeshName of the mesh within _meshName to insert.
[in]_centerSubmeshTrue to center the submesh.
static void gazebo::rendering::Visual::InsertMesh ( const common::Mesh _mesh,
const std::string &  _subMesh = "",
bool  _centerSubmesh = false 
)
static

Insert a mesh into Ogre.

Parameters
[in]_meshPointer to the mesh to insert.
[in]_subMeshName of the mesh within _meshName to insert.
[in]_centerSubmeshTrue to center the submesh.
bool gazebo::rendering::Visual::IsAncestorOf ( const rendering::VisualPtr  _visual) const

Check if this visual is an ancestor of another visual.

Parameters
[in]_visualThe other visual.
Returns
True if this visual is an ancestor.
bool gazebo::rendering::Visual::IsDescendantOf ( const rendering::VisualPtr  _visual) const

Check if this visual is a descendant of another visual.

Parameters
[in]_visualThe other visual.
Returns
True if this visual is a descendant.
bool gazebo::rendering::Visual::IsPlane ( ) const

Return true if the visual is a plane.

Returns
True if a plane.
bool gazebo::rendering::Visual::IsStatic ( ) const

Return true if the visual is a static geometry.

Returns
True if the visual is static.
void gazebo::rendering::Visual::Load ( sdf::ElementPtr  _sdf)

Load the visual with a set of parameters.

Parameters
[in]_sdfLoad from an SDF element.
virtual void gazebo::rendering::Visual::Load ( )
virtual
void gazebo::rendering::Visual::LoadFromMsg ( ConstVisualPtr &  _msg)

Load from a message.

Parameters
[in]_msgA visual message.
void gazebo::rendering::Visual::LoadPlugin ( const std::string &  _filename,
const std::string &  _name,
sdf::ElementPtr  _sdf 
)

Load a plugin.

Parameters
_filenameThe filename of the plugin
_nameA unique name for the plugin
_sdfThe SDF to pass into the plugin.
void gazebo::rendering::Visual::MakeStatic ( )

Make the visual objects static renderables.

void gazebo::rendering::Visual::MoveToPosition ( const math::Pose _pose,
double  _time 
)

Move to a pose and over a given time.

Parameters
[in]_posePose the visual will end at.
[in]_timeTime it takes the visual to move to the pose.
void gazebo::rendering::Visual::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.

Parameters
[in]_posesSeries of poses the visual will move to.
[in]_timeTime it takes the visual to move to the pose.
[in]_onCompleteCallback used when the move is complete.
void gazebo::rendering::Visual::RemovePlugin ( const std::string &  _name)

Remove a running plugin.

Parameters
_nameThe unique name of the plugin to remove
void gazebo::rendering::Visual::SetAmbient ( const common::Color _color,
const bool  _cascade = true 
)

Set the ambient color of the visual.

Parameters
[in]_colorThe ambient color.
[in]_cascadeWhether to set this parameter in children too.
void gazebo::rendering::Visual::SetCastShadows ( bool  _shadows)

Set whether the visual should cast shadows.

Parameters
[in]_shadowsTrue to enable shadows.
void gazebo::rendering::Visual::SetDiffuse ( const common::Color _color,
const bool  _cascade = true 
)

Set the diffuse color of the visual.

Parameters
[in]_colorSet the diffuse color.
[in]_cascadeWhether to set this parameter in children too.
virtual void gazebo::rendering::Visual::SetEmissive ( const common::Color _color,
const bool  _cascade = true 
)
virtual

Set the emissive value.

Parameters
[in]_colorThe emissive color.
[in]_cascadeWhether to set this parameter in children too.

Reimplemented in gazebo::rendering::LaserVisual.

virtual void gazebo::rendering::Visual::SetHighlighted ( bool  _highlighted)
virtual

Set the visual to be visually highlighted.

This is most often used when an object is selected by a user via the GUI.

Parameters
[in]_highlightedTrue to enable the highlighting.

Reimplemented in gazebo::rendering::LinkFrameVisual.

void gazebo::rendering::Visual::SetId ( uint32_t  _id)

Set the id associated with this visual.

void gazebo::rendering::Visual::SetInheritTransparency ( const bool  _inherit)

Set whether to inherit transparency from parent.

Parameters
[in]_inheritTrue to inherit transparency.
void gazebo::rendering::Visual::SetLighting ( bool  _lighting)

Set whether or not to enable or disable lighting.

Parameters
[in]_lightingTrue to enable lighting.
void gazebo::rendering::Visual::SetMaterial ( const std::string &  _materialName,
bool  _unique = true,
const bool  _cascade = true 
)

Set the material.

Parameters
[in]_materialNameThe name of the material.
[in]_uniqueTrue to make the material unique, which allows the material to change without changing materials that originally had the same name.
[in]_cascadeWhether to set this parameter in children too.
void gazebo::rendering::Visual::SetName ( const std::string &  _name)

Set the name of the visual.

Parameters
[in]_nameName of the visual
void gazebo::rendering::Visual::SetNormalMap ( const std::string &  _nmap)

Set the normal map.

Parameters
[in]_nmapName of the normal map material.
void gazebo::rendering::Visual::SetPose ( const math::Pose _pose)

Set the pose of the visual.

Parameters
[in]_poseThe new pose of the visual.
void gazebo::rendering::Visual::SetPosition ( const math::Vector3 _pos)

Set the position of the visual.

Parameters
[in]_posThe position to set the visual to.
void gazebo::rendering::Visual::SetRibbonTrail ( bool  _value,
const common::Color _initialColor,
const common::Color _changeColor 
)

True on or off a ribbon trail.

Parameters
[in]_valueTrue to enable ribbon trail.
[in]_initialColorThe initial color of the ribbon trail.
[in]_changeColorColor to change too as the trail grows.
void gazebo::rendering::Visual::SetRotation ( const math::Quaternion _rot)

Set the rotation of the visual.

Parameters
[in]_rotThe rotation of the visual.
void gazebo::rendering::Visual::SetScale ( const math::Vector3 _scale)

Set the scale.

Parameters
[in]_scaleThe scaling factor for the visual.
void gazebo::rendering::Visual::SetScene ( ScenePtr  _scene)

Set current scene.

Parameters
[in]_scenePointer to the scene.
void gazebo::rendering::Visual::SetShaderType ( const std::string &  _type)

Set the shader type for the visual's material.

Parameters
[in]_typeShader type string: "vertex", "pixel", "normal_map_object_space", "normal_map_tangent_space".
void gazebo::rendering::Visual::SetSkeletonPose ( const msgs::PoseAnimation &  _pose)

Set animation skeleton pose.

Parameters
[in]_poseSkelton message
void gazebo::rendering::Visual::SetSpecular ( const common::Color _color,
const bool  _cascade = true 
)

Set the specular color of the visual.

Parameters
[in]_colorSpecular color.
[in]_cascadeWhether to set this parameter in children too.
void gazebo::rendering::Visual::SetTransparency ( float  _trans)

Set the transparency.

Parameters
[in]_transThe transparency, between 0 and 1 where 0 is no transparency.
void gazebo::rendering::Visual::SetType ( const Visual::VisualType  _type)

Set type of visual.

Parameters
[in]_typeVisual type.
void gazebo::rendering::Visual::SetVisibilityFlags ( uint32_t  _flags)

Set visibility flags for this visual and all children.

Parameters
[in]_flagsThe visiblity flags.
See Also
GZ_VISIBILITY_ALL
GZ_VISIBILITY_GUI
GZ_VISIBILITY_SELECTABLE
virtual void gazebo::rendering::Visual::SetVisible ( bool  _visible,
bool  _cascade = true 
)
virtual

Set whether the visual is visible.

Parameters
[in]_visibleset this node visible.
[in]_cascadesetting this parameter in children too.

Reimplemented in gazebo::rendering::JointVisual, and gazebo::rendering::ArrowVisual.

void gazebo::rendering::Visual::SetWireframe ( bool  _show)

Enable or disable wireframe for this visual.

Parameters
[in]_showTrue to enable wireframe for this visual.
void gazebo::rendering::Visual::SetWorldPose ( const math::Pose _pose)

Set the world pose of the visual.

Parameters
[in]_posePose of the visual in the world coordinate frame.
void gazebo::rendering::Visual::SetWorldPosition ( const math::Vector3 _pos)

Set the world linear position of the visual.

Parameters
[in]_posePosition in the world coordinate frame.
void gazebo::rendering::Visual::SetWorldRotation ( const math::Quaternion _rot)

Set the world orientation of the visual.

Parameters
[in]_rotRotation in the world coordinate frame.
void gazebo::rendering::Visual::ShowBoundingBox ( )

Display the bounding box visual.

void gazebo::rendering::Visual::ShowCollision ( bool  _show)

Display the collision visuals.

Parameters
[in]_showTrue to show visuals labeled as collision objects.
void gazebo::rendering::Visual::ShowCOM ( bool  _show)

Display Center of Mass visuals.

Parameters
[in]_showTrue to show center of mass visualizations.
void gazebo::rendering::Visual::ShowInertia ( bool  _show)

Display inertia visuals.

Parameters
[in]_showTrue to show inertia visualizations.
void gazebo::rendering::Visual::ShowJoints ( bool  _show)

Display joint visuals.

Parameters
[in]_showTrue to show joint visualizations.
void gazebo::rendering::Visual::ShowLinkFrame ( bool  _show)

Display link frame visuals.

Parameters
[in]_showTrue to show link frame visualizations.
void gazebo::rendering::Visual::ShowSkeleton ( bool  _show)

Display the skeleton visuals.

Parameters
[in]_showTrue to show skeleton visuals.
void gazebo::rendering::Visual::ToggleLayer ( const int32_t  _layer)

Toggle layer visibility.

If the visual is on the specified layer its visibility will be toggled.

Parameters
[in]_layerIndex of the layer to toggle.
void gazebo::rendering::Visual::ToggleVisible ( )

Toggle whether this visual is visible.

void gazebo::rendering::Visual::Update ( )

Update the visual.

void gazebo::rendering::Visual::UpdateFromMsg ( ConstVisualPtr &  _msg)

Update a visual based on a message.

Parameters
[in]_msgThe visual message.
bool gazebo::rendering::Visual::UseRTShader ( ) const

Get whether this visual uses RT shader system.

Returns
True if RT shader is used.
bool gazebo::rendering::Visual::Wireframe ( ) const

Get whether wireframe is enabled for this visual.

Returns
True if wireframe is enabled for this visual.

Member Data Documentation

VisualPrivate* gazebo::rendering::Visual::dataPtr
protected

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