Visualization for link frames. More...

#include <rendering/rendering.hh>

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
	LinkFrameVisual (const std::string &_name, VisualPtr _parent)
	Constructor. More...

virtual	~LinkFrameVisual ()=default
	Destructor. More...

void	AddPendingChild (std::pair< VisualType, const google::protobuf::Message * > _pair)
	Push a message for a child of this visual which hasn't been loaded yet. 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...

ignition::math::Box	BoundingBox () const
	Get the bounding box for the 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...

void	FillMaterialMsg (ignition::msgs::Material &_msg) const
	Fill an ignition::msgs::Material message based on this visual's material properties. 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 GAZEBO_DEPRECATED(8.0)
	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 ()

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 GAZEBO_DEPRECATED(8.0)
	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 GAZEBO_DEPRECATED(8.0)
	Get the pose of the visual. More...

math::Vector3	GetPosition () const GAZEBO_DEPRECATED(8.0)
	Get the position of the visual. More...

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

math::Quaternion	GetRotation () const GAZEBO_DEPRECATED(8.0)
	Get the rotation of the visual. More...

math::Vector3	GetScale () GAZEBO_DEPRECATED(8.0)
	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 GAZEBO_DEPRECATED(8.0)
	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...

ignition::math::Pose3d	InitialRelativePose () const
	Get the initial relative pose of the visual. 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...

virtual void	Load ()
	Load the axis visual. 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) GAZEBO_DEPRECATED(8.0)
	Move to a pose and over a given time. More...

void	MoveToPosition (const ignition::math::Pose3d &_pose, const double _time)
	Move to a pose and over a given time. More...

void	MoveToPositions (const std::vector< math::Pose > &_pts, double _time, std::function< void()> _onComplete=nullptr) GAZEBO_DEPRECATED(8.0)
	Move to a series of pose and over a given time. More...

void	MoveToPositions (const std::vector< ignition::math::Pose3d > &_pts, const double _time, std::function< void()> _onComplete=nullptr)
	Move to a series of pose and over a given time. More...

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

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

ignition::math::Vector3d	Position () const
	Get the position of the visual. More...

void	RecalculateScale ()
	Recalculate scale based on parent link. More...

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

ignition::math::Quaterniond	Rotation () const
	Get the rotation of the visual. More...

ignition::math::Vector3d	Scale () const
	Get the scale. More...

void	ScaleXAxis (const ignition::math::Vector3d &_scale)
	Scale the X axis. More...

void	ScaleYAxis (const ignition::math::Vector3d &_scale)
	Scale the Y axis. More...

void	ScaleZAxis (const ignition::math::Vector3d &_scale)
	Scale the Z axis. More...

void	SetAmbient (const common::Color &_color, const bool _cascade=true)
	Set the ambient color of the visual. More...

void	SetAxisMaterial (unsigned int _axis, const std::string &_material)
	Set the material used to render and axis. More...

void	SetAxisVisible (unsigned int _axis, bool _visible)
	Set whether the axis will be visible. 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	SetLayer (const int32_t _layer)
	Set the layer this visual belongs to. 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) GAZEBO_DEPRECATED(8.0)
	Set the pose of the visual. More...

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

void	SetPosition (const math::Vector3 &_pos) GAZEBO_DEPRECATED(8.0)
	Set the position of the visual. More...

void	SetPosition (const ignition::math::Vector3d &_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) GAZEBO_DEPRECATED(8.0)
	Set the rotation of the visual. More...

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

void	SetScale (const math::Vector3 &_scale) GAZEBO_DEPRECATED(8.0)
	Set the scale. More...

void	SetScale (const ignition::math::Vector3d &_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	SetTypeMsg (const google::protobuf::Message *_msg)
	Set a message specific for this visual type. 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) GAZEBO_DEPRECATED(8.0)
	Set the world pose of the visual. More...

void	SetWorldPose (const ignition::math::Pose3d &_pose)
	Set the world pose of the visual. More...

void	SetWorldPosition (const math::Vector3 &_pos) GAZEBO_DEPRECATED(8.0)
	Set the world linear position of the visual. More...

void	SetWorldPosition (const ignition::math::Vector3d &_pos)
	Set the world linear position of the visual. More...

void	SetWorldRotation (const math::Quaternion &_rot) GAZEBO_DEPRECATED(8.0)
	Set the world orientation of the visual. More...

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

void	ShowAxisHead (unsigned int _axis, bool _show)
	Show the axis arrow head. More...

void	ShowAxisRotation (unsigned int _axis, bool _show)
	Show the rotation tube. More...

void	ShowAxisShaft (unsigned int _axis, bool _show)
	Show the axis arrow shaft. 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...

ignition::math::Pose3d	WorldPose () const
	Get the global pose of the 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
void	ProcessMaterialMsg (const ignition::msgs::Material &_msg)
	Process a material message. More...

Protected Attributes
VisualPrivate *	dataPtr

Detailed Description

Visualization for link frames.

Member Enumeration Documentation

enum VisualType

inherited

Type of visual.

Todo:: Move this to RenderingTypes.hh

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

LinkFrameVisual	(	const std::string &	_name,
		VisualPtr	_parent
	)

Constructor.

Parameters

[in]	_name	Name of the LinkFrameVisual
[in]	_parent	Parent visual

virtual ~LinkFrameVisual ( )

virtualdefault

Destructor.

Member Function Documentation

void AddPendingChild ( std::pair< VisualType, const google::protobuf::Message * > _pair )

inherited

Push a message for a child of this visual which hasn't been loaded yet.

Parameters

[in] _pair Pair with the child visual type and the message for the child.

void AttachLineVertex	(	DynamicLines *	_line,
		unsigned int	_index
	)

inherited

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

Parameters

[in]	_line	Line to attach to this visual.
[in]	_index	Index of the line vertex to attach.

Ogre::MovableObject* AttachMesh	(	const std::string &	_meshName,
		const std::string &	_subMesh = `""`,
		bool	_centerSubmesh = `false`,
		const std::string &	_objName = `""`
	)

inherited

Attach a mesh to this visual by name.

Parameters

[in]	_meshName	Name of the mesh.
[in]	_subMesh	Name of the submesh. Empty string to use all submeshes.
[in]	_centerSubmesh	True to center a submesh.
[in]	_objName	Name of the attached Object to put the mesh onto.

void AttachObject ( Ogre::MovableObject * _obj )

inherited

Attach a renerable object to the visual.

Parameters

[in] _obj A movable object to attach to the visual.

void AttachVisual ( VisualPtr _vis )

inherited

Attach a visual to this visual.

Parameters

[in] _vis Visual to attach.

ignition::math::Box BoundingBox ( ) const

inherited

Get the bounding box for the visual.

Returns: The bounding box in world coordinates.

void ClearParent ( )

inherited

Clear parents.

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

inherited

Clone the visual with a new name.

Parameters

[in]	_name	Name of the cloned Visual.
[in]	_newParent	Parent of the cloned Visual.

Returns: The visual.

static Visual::VisualType ConvertVisualType ( const msgs::Visual::Type & _type )

staticinherited

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

Parameters

[in] _type A msgs::Visual::Type enum.

Returns: VisualType enum.

static msgs::Visual::Type ConvertVisualType ( const Visual::VisualType & _type )

staticinherited

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

Parameters

[in] _type VisualType enum.

Returns: A msgs::Visual::Type enum.

DynamicLines* CreateDynamicLine ( RenderOpType _type = RENDERING_LINE_STRIP )

inherited

Add a line to the visual.

Parameters

[in] _type The type of line to make.

Returns: A pointer to the new dynamic line.

void DeleteDynamicLine ( DynamicLines * _line )

inherited

Delete a dynamic line.

Parameters

[in] _line Pointer to the line to delete.

ignition::math::Vector3d DerivedScale ( ) const

inherited

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

Returns: The derived scaling factor.

float DerivedTransparency ( ) const

inherited

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

Returns: The derived transparency.

void DetachObjects ( )

inherited

Detach all objects.

void DetachVisual ( VisualPtr _vis )

inherited

Detach a visual.

Parameters

[in] _vis Visual to detach.

void DetachVisual ( const std::string & _name )

inherited

Detach a visual.

Parameters

[in] _name Name of the visual to detach.

void DisableTrackVisual ( )

inherited

Disable tracking of a visual.

void EnableTrackVisual ( VisualPtr _vis )

inherited

Set one visual to track/follow another.

Parameters

[in] _vis Visual to track.

void FillMaterialMsg ( ignition::msgs::Material & _msg ) const

inherited

Fill an ignition::msgs::Material message based on this visual's material properties.

Parameters

[out] _msg Ignition message to fill.

virtual void Fini ( )

virtualinherited

Helper for the destructor.

Reimplemented in ApplyWrenchVisual, CameraVisual, WrenchVisual, JointVisual, and LogicalCameraVisual.

common::Color GetAmbient ( ) const

inherited

Get the ambient color of the visual.

Returns: Ambient color.

unsigned int GetAttachedObjectCount ( ) const

inherited

Return the number of attached movable objects.

Returns: The number of attached movable objects.

math::Box GetBoundingBox ( ) const

inherited

Get the bounding box for the visual.

Returns: The bounding box in world coordinates.

Deprecated:: See version the returns an ignition math object.

bool GetCastShadows ( ) const

inherited

Get whether the visual casts shadows.

Returns: True if the visual casts shadows.

VisualPtr GetChild ( unsigned int _index )

inherited

Get an attached visual based on an index.

Index should be between 0 and Visual::GetChildCount.

Parameters

[in] _index Index of the child to retreive.

Returns: Pointer to the child visual, NULL if index is invalid.

unsigned int GetChildCount ( )

inherited

Get the number of attached visuals.

Returns: The number of children.

unsigned int GetDepth ( ) const

inherited

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

Returns: This visual's depth.

common::Color GetDiffuse ( ) const

inherited

Get the diffuse color of the visual.

Returns: Diffuse color.

common::Color GetEmissive ( ) const

inherited

Get the emissive color of the visual.

Returns: Emissive color.

ignition::math::Vector3d GetGeometrySize ( ) const

inherited

Get the geometry size.

Returns: Size of geometry.

std::string GetGeometryType ( ) const

inherited

Get the geometry type.

Returns: Type of geometry in string.

bool GetHighlighted ( )

bool GetHighlighted ( ) const

inherited

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 GetId ( ) const

inherited

Get the id associated with this visual.

bool GetLighting ( ) const

inherited

Get whether or not lighting is enabled.

Returns: True if lighting is enabled.

std::string GetMaterialName ( ) const

inherited

Get the name of the material.

Returns: The name of the visual applied to this visual.

std::string GetMeshName ( ) const

inherited

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

Returns: Name of the mesh.

std::string GetName ( ) const

inherited

Get the name of the visual.

Returns: The name of the visual.

Deprecated:: See std::string Name() const

std::string GetNormalMap ( ) const

inherited

Get the normal map.

Returns: The name of the normal map material.

VisualPtr GetNthAncestor ( unsigned int _n )

inherited

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] _n Depth of the ancestor.

Returns: The nth ancestor counting from the world.

VisualPtr GetParent ( ) const

inherited

Get the parent visual, if one exists.

Returns: Pointer to the parent visual, NULL if no parent.

math::Pose GetPose ( ) const

inherited

Get the pose of the visual.

Returns: The Visual's pose.

Deprecated:: See ignition::math::Pose3d Pose() const;

math::Vector3 GetPosition ( ) const

inherited

Get the position of the visual.

Returns: The visual's position.

Deprecated:: See ignition::math::Vector3d Position() const

VisualPtr GetRootVisual ( )

inherited

Get the root visual.

Returns: The root visual, which is one level below the world visual.

math::Quaternion GetRotation ( ) const

inherited

Get the rotation of the visual.

Returns: The visual's rotation.

Deprecated:: ignition::math::Quaterniond Rotation() const

math::Vector3 GetScale ( )

inherited

Get the scale.

Returns: The scaling factor.

Deprecated:: See version that return an ignition math object.

ScenePtr GetScene ( ) const

inherited

Get current.

Returns: Pointer to the scene.

Ogre::SceneNode* GetSceneNode ( ) const

inherited

Return the scene Node of this visual entity.

Returns: The Ogre scene node.

sdf::ElementPtr GetSDF ( ) const

inherited

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 GetShaderType ( ) const

inherited

Get the shader type.

Returns: String of the shader type: "vertex", "pixel", "normal_map_object_space", "normal_map_tangent_space".

common::Color GetSpecular ( ) const

inherited

Get the specular color of the visual.

Returns: Specular color.

std::string GetSubMeshName ( ) const

inherited

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 GetTransparency ( )

inherited

Get the transparency.

Returns: The transparency.

Visual::VisualType GetType ( ) const

inherited

Get type of visual.

Returns: Visual type.

uint32_t GetVisibilityFlags ( )

inherited

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 GetVisible ( ) const

inherited

Get whether the visual is visible.

Returns: True if the visual is visible.

math::Pose GetWorldPose ( ) const

inherited

Get the global pose of the node.

Returns: The pose in the world coordinate frame.

Deprecated:: See ignition::math::Pose3d WorldPose() const.

bool HasAttachedObject ( const std::string & _name )

inherited

Returns true if an object with _name is attached.

Parameters

[in] _name Name of an object to find.

bool InheritTransparency ( ) const

inherited

Get whether this visual inherits transparency from parent.

Returns: True if the visual inherits transparency.

void Init ( )

inherited

Helper for the contructor.

ignition::math::Pose3d InitialRelativePose ( ) const

inherited

Get the initial relative pose of the visual.

Returns: The visual's initial relative pose.

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

inherited

Insert a mesh into Ogre.

Parameters

[in]	_meshName	Name of the mesh to insert.
[in]	_subMesh	Name of the mesh within _meshName to insert.
[in]	_centerSubmesh	True to center the submesh.

static void InsertMesh	(	const common::Mesh *	_mesh,
		const std::string &	_subMesh = `""`,
		bool	_centerSubmesh = `false`
	)

staticinherited

Insert a mesh into Ogre.

Parameters

[in]	_mesh	Pointer to the mesh to insert.
[in]	_subMesh	Name of the mesh within _meshName to insert.
[in]	_centerSubmesh	True to center the submesh.

bool IsAncestorOf ( const rendering::VisualPtr _visual ) const

inherited

Check if this visual is an ancestor of another visual.

Parameters

[in] _visual The other visual.

Returns: True if this visual is an ancestor.

bool IsDescendantOf ( const rendering::VisualPtr _visual ) const

inherited

Check if this visual is a descendant of another visual.

Parameters

[in] _visual The other visual.

Returns: True if this visual is a descendant.

bool IsPlane ( ) const

inherited

Return true if the visual is a plane.

Returns: True if a plane.

bool IsStatic ( ) const

inherited

Return true if the visual is a static geometry.

Returns: True if the visual is static.

virtual void Load ( )

virtual

Load the axis visual.

Reimplemented from AxisVisual.

void Load ( sdf::ElementPtr _sdf )

inherited

Load the visual with a set of parameters.

Parameters

[in] _sdf Load from an SDF element.

void LoadFromMsg ( ConstVisualPtr & _msg )

inherited

Load from a message.

Parameters

[in] _msg A visual message.

void LoadPlugin	(	const std::string &	_filename,
		const std::string &	_name,
		sdf::ElementPtr	_sdf
	)

inherited

Load a plugin.

Parameters

_filename	The filename of the plugin
_name	A unique name for the plugin
_sdf	The SDF to pass into the plugin.

void MakeStatic ( )

inherited

Make the visual objects static renderables.

void MoveToPosition	(	const math::Pose &	_pose,
		double	_time
	)

inherited

Move to a pose and over a given time.

Parameters

[in]	_pose	Pose the visual will end at.
[in]	_time	Time it takes the visual to move to the pose.

Deprecated:: See version that accepts an ignition math object.

void MoveToPosition	(	const ignition::math::Pose3d &	_pose,
		const double	_time
	)

inherited

Move to a pose and over a given time.

Parameters

[in]	_pose	Pose the visual will end at.
[in]	_time	Time it takes the visual to move to the pose.

void MoveToPositions	(	const std::vector< math::Pose > &	_pts,
		double	_time,
		std::function< void()>	_onComplete = `nullptr`
	)

inherited

Move to a series of pose and over a given time.

Parameters

[in]	_poses	Series of poses the visual will move to.
[in]	_time	Time it takes the visual to move to the pose.
[in]	_onComplete	Callback used when the move is complete.

Deprecated:: See version that accepts an ignition math object.

void MoveToPositions	(	const std::vector< ignition::math::Pose3d > &	_pts,
		const double	_time,
		std::function< void()>	_onComplete = `nullptr`
	)

inherited

Move to a series of pose and over a given time.

Parameters

[in]	_poses	Series of poses the visual will move to.
[in]	_time	Time it takes the visual to move to the pose.
[in]	_onComplete	Callback used when the move is complete.

std::string Name ( ) const

inherited

Get the name of the visual.

Returns: The name of the visual.

ignition::math::Pose3d Pose ( ) const

inherited

Get the pose of the visual.

Returns: The Visual's pose.

Deprecated:: See ignition::math::Pose3d Pose() const;

ignition::math::Vector3d Position ( ) const

inherited

Get the position of the visual.

Returns: The visual's position.

void ProcessMaterialMsg ( const ignition::msgs::Material & _msg )

protectedinherited

Process a material message.

Parameters

[in] _msg The ignition material message.

void RecalculateScale ( )

Recalculate scale based on parent link.

void RemovePlugin ( const std::string & _name )

inherited

Remove a running plugin.

Parameters

_name The unique name of the plugin to remove

ignition::math::Quaterniond Rotation ( ) const

inherited

Get the rotation of the visual.

Returns: The visual's rotation.

ignition::math::Vector3d Scale ( ) const

inherited

Get the scale.

Returns: The scaling factor.

void ScaleXAxis ( const ignition::math::Vector3d & _scale )

inherited

Scale the X axis.

Parameters

[in] _scale Scaling factor

void ScaleYAxis ( const ignition::math::Vector3d & _scale )

inherited

Scale the Y axis.

Parameters

[in] _scale Scaling factor

void ScaleZAxis ( const ignition::math::Vector3d & _scale )

inherited

Scale the Z axis.

Parameters

[in] _scale Scaling factor

void SetAmbient	(	const common::Color &	_color,
		const bool	_cascade = `true`
	)

inherited

Set the ambient color of the visual.

Parameters

[in]	_color	The ambient color.
[in]	_cascade	Whether to set this parameter in children too.

void SetAxisMaterial	(	unsigned int	_axis,
		const std::string &	_material
	)

inherited

Set the material used to render and axis.

Parameters

[in]	_axis	The number of the axis (0, 1, 2 = x,y,z)
[in]	_material	The name of the material to apply to the axis

void SetAxisVisible	(	unsigned int	_axis,
		bool	_visible
	)

inherited

Set whether the axis will be visible.

Parameters

[in]	_axis	The number of the axis (0, 1, 2 = x,y,z)
[in]	_visible	True to set the axis to be visible.

void SetCastShadows ( bool _shadows )

inherited

Set whether the visual should cast shadows.

Parameters

[in] _shadows True to enable shadows.

void SetDiffuse	(	const common::Color &	_color,
		const bool	_cascade = `true`
	)

inherited

Set the diffuse color of the visual.

Parameters

[in]	_color	Set the diffuse color.
[in]	_cascade	Whether to set this parameter in children too.

virtual void SetEmissive	(	const common::Color &	_color,
		const bool	_cascade = `true`
	)

virtualinherited

Set the emissive value.

Parameters

[in]	_color	The emissive color.
[in]	_cascade	Whether to set this parameter in children too.

Reimplemented in LaserVisual.

virtual void 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] _highlighted True to enable the highlighting.

Reimplemented from Visual.

void SetId ( uint32_t _id )

inherited

Set the id associated with this visual.

void SetInheritTransparency ( const bool _inherit )

inherited

Set whether to inherit transparency from parent.

Parameters

[in] _inherit True to inherit transparency.

void SetLayer ( const int32_t _layer )

inherited

Set the layer this visual belongs to.

Parameters

[in] _layer Index of the layer.

void SetLighting ( bool _lighting )

inherited

Set whether or not to enable or disable lighting.

Parameters

[in] _lighting True to enable lighting.

void SetMaterial	(	const std::string &	_materialName,
		bool	_unique = `true`,
		const bool	_cascade = `true`
	)

inherited

Set the material.

Parameters

[in]	_materialName	The name of the material.
[in]	_unique	True to make the material unique, which allows the material to change without changing materials that originally had the same name.
[in]	_cascade	Whether to set this parameter in children too.

void SetName ( const std::string & _name )

inherited

Set the name of the visual.

Parameters

[in] _name Name of the visual

void SetNormalMap ( const std::string & _nmap )

inherited

Set the normal map.

Parameters

[in] _nmap Name of the normal map material.

void SetPose ( const math::Pose & _pose )

inherited

Set the pose of the visual.

Parameters

[in] _pose The new pose of the visual.

Deprecated:: See version that accepts an ignition math object.

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

inherited

Set the pose of the visual.

Parameters

[in] _pose The new pose of the visual.

void SetPosition ( const math::Vector3 & _pos )

inherited

Set the position of the visual.

Parameters

[in] _pos The position to set the visual to.

Deprecated:: See version that accepts ignition math parameters

void SetPosition ( const ignition::math::Vector3d & _pos )

inherited

Set the position of the visual.

Parameters

[in] _pos The position to set the visual to.

void SetRibbonTrail	(	bool	_value,
		const common::Color &	_initialColor,
		const common::Color &	_changeColor
	)

inherited

True on or off a ribbon trail.

Parameters

[in]	_value	True to enable ribbon trail.
[in]	_initialColor	The initial color of the ribbon trail.
[in]	_changeColor	Color to change too as the trail grows.

void SetRotation ( const math::Quaternion & _rot )

inherited

Set the rotation of the visual.

Parameters

[in] _rot The rotation of the visual.

Deprecated:: See version that accepts an ignition math object.

void SetRotation ( const ignition::math::Quaterniond & _rot )

inherited

Set the rotation of the visual.

Parameters

[in] _rot The rotation of the visual.

void SetScale ( const math::Vector3 & _scale )

inherited

Set the scale.

Parameters

[in] _scale The scaling factor for the visual.

Deprecated:: See version that accepts ignition math parameters.

void SetScale ( const ignition::math::Vector3d & _scale )

inherited

Set the scale.

Parameters

[in] _scale The scaling factor for the visual.

void SetScene ( ScenePtr _scene )

inherited

Set current scene.

Parameters

[in] _scene Pointer to the scene.

void SetShaderType ( const std::string & _type )

inherited

Set the shader type for the visual's material.

Parameters

[in] _type Shader type string: "vertex", "pixel", "normal_map_object_space", "normal_map_tangent_space".

void SetSkeletonPose ( const msgs::PoseAnimation & _pose )

inherited

Set animation skeleton pose.

Parameters

[in] _pose Skelton message

void SetSpecular	(	const common::Color &	_color,
		const bool	_cascade = `true`
	)

inherited

Set the specular color of the visual.

Parameters

[in]	_color	Specular color.
[in]	_cascade	Whether to set this parameter in children too.

void SetTransparency ( float _trans )

inherited

Set the transparency.

Parameters

[in] _trans The transparency, between 0 and 1 where 0 is no transparency.

void SetType ( const Visual::VisualType _type )

inherited

Set type of visual.

Parameters

[in] _type Visual type.

void SetTypeMsg ( const google::protobuf::Message * _msg )

inherited

Set a message specific for this visual type.

For example, a link visual will have a link message.

Parameters

[in] _msg Message for this visual.

void SetVisibilityFlags ( uint32_t _flags )

inherited

Set visibility flags for this visual and all children.

Parameters

[in] _flags The visiblity flags.

See Also: GZ_VISIBILITY_ALL; GZ_VISIBILITY_GUI; GZ_VISIBILITY_SELECTABLE

virtual void SetVisible	(	bool	_visible,
		bool	_cascade = `true`
	)

virtualinherited

Set whether the visual is visible.

Parameters

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

Reimplemented in JointVisual, and ArrowVisual.

void SetWireframe ( bool _show )

inherited

Enable or disable wireframe for this visual.

Parameters

[in] _show True to enable wireframe for this visual.

void SetWorldPose ( const math::Pose & _pose )

inherited

Set the world pose of the visual.

Parameters

[in] _pose Pose of the visual in the world coordinate frame.

Deprecated:: See version that accepts an ignition math object.

void SetWorldPose ( const ignition::math::Pose3d & _pose )

inherited

Set the world pose of the visual.

Parameters

[in] _pose Pose of the visual in the world coordinate frame.

void SetWorldPosition ( const math::Vector3 & _pos )

inherited

Set the world linear position of the visual.

Parameters

[in] _pose Position in the world coordinate frame.

Deprecated:: See version that accepts an ignition math object.

void SetWorldPosition ( const ignition::math::Vector3d & _pos )

inherited

Set the world linear position of the visual.

Parameters

[in] _pose Position in the world coordinate frame.

void SetWorldRotation ( const math::Quaternion & _rot )

inherited

Set the world orientation of the visual.

Parameters

[in] _rot Rotation in the world coordinate frame.

Deprecated:: See version that accepts an ignition math object.

void SetWorldRotation ( const ignition::math::Quaterniond & _rot )

inherited

Set the world orientation of the visual.

Parameters

[in] _rot Rotation in the world coordinate frame.

void ShowAxisHead	(	unsigned int	_axis,
		bool	_show
	)

inherited

Show the axis arrow head.

Parameters

[in]	_axis	Axis index. 0: x, 1: y, 2: z
[in]	_show	True to show the axis arrow head.

void ShowAxisRotation	(	unsigned int	_axis,
		bool	_show
	)

inherited

Show the rotation tube.

Parameters

[in]	_axis	Axis index. 0: x, 1: y, 2: z
[in]	_show	True to show the axis rotation tube.

void ShowAxisShaft	(	unsigned int	_axis,
		bool	_show
	)

inherited

Show the axis arrow shaft.

Parameters

[in]	_axis	Axis index. 0: x, 1: y, 2: z
[in]	_show	True to show the axis arrow shaft.

void ShowBoundingBox ( )

inherited

Display the bounding box visual.

void ShowCollision ( bool _show )

inherited

Display the collision visuals.

Parameters

[in] _show True to show visuals labeled as collision objects.

void ShowCOM ( bool _show )

inherited

Display Center of Mass visuals.

Parameters

[in] _show True to show center of mass visualizations.

void ShowInertia ( bool _show )

inherited

Display inertia visuals.

Parameters

[in] _show True to show inertia visualizations.

void ShowJoints ( bool _show )

inherited

Display joint visuals.

Parameters

[in] _show True to show joint visualizations.

void ShowLinkFrame ( bool _show )

inherited

Display link frame visuals.

Parameters

[in] _show True to show link frame visualizations.

void ShowSkeleton ( bool _show )

inherited

Display the skeleton visuals.

Parameters

[in] _show True to show skeleton visuals.

void ToggleLayer ( const int32_t _layer )

inherited

Toggle layer visibility.

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

Parameters

[in] _layer Index of the layer to toggle.

void ToggleVisible ( )

inherited

Toggle whether this visual is visible.

void Update ( )

inherited

Update the visual.

void UpdateFromMsg ( ConstVisualPtr & _msg )

inherited

Update a visual based on a message.

Parameters

[in] _msg The visual message.

bool UseRTShader ( ) const

inherited

Get whether this visual uses RT shader system.

Returns: True if RT shader is used.

bool Wireframe ( ) const

inherited

Get whether wireframe is enabled for this visual.

Returns: True if wireframe is enabled for this visual.

ignition::math::Pose3d WorldPose ( ) const

inherited

Get the global pose of the visual.

Returns: The pose in the world coordinate frame.

Member Data Documentation

VisualPrivate* dataPtr

protectedinherited

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

LinkFrameVisual.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation