A renderable object. More...

#include <rendering/rendering.hh>

Inheritance diagram for gazebo::rendering::Visual:

Public Member Functions
	Visual (const std::string &_name, VisualPtr _parent, bool _useRTShader=true)
	Constructor.
	Visual (const std::string &_name, ScenePtr _scene, bool _useRTShader=true)
	Constructor.
virtual	~Visual ()
	Destructor.
void	AttachAxes ()
	Attach visualization axes.
void	AttachLineVertex (DynamicLines *_line, unsigned int _index)
	Attach a vertex of a line to the position of the visual.
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.
void	AttachObject (Ogre::MovableObject *_obj)
	Attach a renerable object to the visual.
void	AttachVisual (VisualPtr _vis)
	Attach a visual to this visual.
void	ClearParent ()
	Clear parents.
VisualPtr	Clone (const std::string &_name, VisualPtr _newParent)
	Clone the visual with a new name.
DynamicLines *	CreateDynamicLine (RenderOpType _type=RENDERING_LINE_STRIP)
	Add a line to the visual.
void	DeleteDynamicLine (DynamicLines *_line)
	Delete a dynamic line.
void	DetachObjects ()
	Detach all objects.
void	DetachVisual (VisualPtr _vis)
	Detach a visual.
void	DetachVisual (const std::string &_name)
	Detach a visual.
void	DisableTrackVisual ()
	Disable tracking of a visual.
void	EnableTrackVisual (VisualPtr _vis)
	Set one visual to track/follow another.
void	Fini ()
	Helper for the destructor.
unsigned int	GetAttachedObjectCount () const
	Return the number of attached movable objects.
math::Box	GetBoundingBox () const
	Get the bounding box for the visual.
VisualPtr	GetChild (unsigned int _index)
	Get an attached visual based on an index.
unsigned int	GetChildCount ()
	Get the number of attached visuals.
std::string	GetMaterialName () const
	Get the name of the material.
std::string	GetMeshName () const
	The name of the mesh set in the visual's SDF.
std::string	GetName () const
	Get the name of the visual.
std::string	GetNormalMap () const
	Get the normal map.
VisualPtr	GetParent () const
	Get the parent visual, if one exists.
math::Pose	GetPose () const
	Get the pose of the visual.
math::Vector3	GetPosition () const
	Get the position of the visual.
VisualPtr	GetRootVisual ()
	Get the root visual.
math::Quaternion	GetRotation () const
	Get the rotation of the visual.
math::Vector3	GetScale ()
	Get the scale.
ScenePtr	GetScene () const
	Get current.
Ogre::SceneNode *	GetSceneNode () const
	Return the scene Node of this visual entity.
std::string	GetShaderType () const
	Get the shader type.
std::string	GetSubMeshName () const
	Get the name of the sub mesh set in the visual's SDF.
float	GetTransparency ()
	Get the transparency.
uint32_t	GetVisibilityFlags ()
	Get visibility flags for this visual and all children.
bool	GetVisible () const
	Get whether the visual is visible.
math::Pose	GetWorldPose () const
	Get the global pose of the node.
bool	HasAttachedObject (const std::string &_name)
	Returns true if an object with _name is attached.
void	Init ()
	Helper for the contructor.
void	InsertMesh (const std::string &_meshName, const std::string &_subMesh="", bool _centerSubmesh=false)
	Insert a mesh into Ogre.
bool	IsPlane () const
	Return true if the visual is a plane.
bool	IsStatic () const
	Return true if the visual is a static geometry.
void	Load (sdf::ElementPtr _sdf)
	Load the visual with a set of parameters.
virtual void	Load ()
	Load the visual with default parameters.
void	LoadFromMsg (ConstVisualPtr &_msg)
	Load from a message.
void	LoadPlugin (const std::string &_filename, const std::string &_name, sdf::ElementPtr _sdf)
	Load a plugin.
void	MakeStatic ()
	Make the visual objects static renderables.
void	MoveToPosition (const math::Pose &_pose, double _time)
	Move to a pose and over a given time.
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.
void	RemovePlugin (const std::string &_name)
	Remove a running plugin.
void	SetAmbient (const common::Color &_color)
	Set the ambient color of the visual.
void	SetCastShadows (bool _shadows)
	Set whether the visual should cast shadows.
void	SetDiffuse (const common::Color &_color)
	Set the diffuse color of the visual.
virtual void	SetEmissive (const common::Color &_color)
	Set the emissive value.
void	SetHighlighted (bool _highlighted)
	Set the visual to be visually highlighted.
void	SetMaterial (const std::string &_materialName, bool _unique=true)
	Set the material.
void	SetName (const std::string &_name)
	Set the name of the visual.
void	SetNormalMap (const std::string &_nmap)
	Set the normal map.
void	SetPose (const math::Pose &_pose)
	Set the pose of the visual.
void	SetPosition (const math::Vector3 &_pos)
	Set the position of the visual.
void	SetRibbonTrail (bool _value, const common::Color &_initialColor, const common::Color &_changeColor)
	True on or off a ribbon trail.
void	SetRotation (const math::Quaternion &_rot)
	Set the rotation of the visual.
void	SetScale (const math::Vector3 &_scale)
	Set the scale.
void	SetScene (ScenePtr _scene)
	Set current scene.
void	SetShaderType (const std::string &_type)
	Set the shader type for the visual's material.
void	SetSkeletonPose (const msgs::PoseAnimation &_pose)
	Set animation skeleton pose.
void	SetSpecular (const common::Color &_color)
	Set the specular color of the visual.
void	SetTransparency (float _trans)
	Set the transparency.
void	SetVisibilityFlags (uint32_t _flags)
	Set visibility flags for this visual and all children.
void	SetVisible (bool _visible, bool _cascade=true)
	Set whether the visual is visible.
void	SetWireframe (bool _show)
	Enable or disable wireframe for this visual.
void	SetWorldPose (const math::Pose _pose)
	Set the world pose of the visual.
void	SetWorldPosition (const math::Vector3 &_pos)
	Set the world linear position of the visual.
void	SetWorldRotation (const math::Quaternion &_rot)
	Set the world orientation of the visual.
void	ShowBoundingBox ()
	Display the bounding box visual.
void	ShowCollision (bool _show)
	Display the collision visuals.
void	ShowCOM (bool _show)
	Display Center of Mass visuals.
void	ShowJoints (bool _show)
	Display joint visuals.
void	ShowSkeleton (bool _show)
	Display the skeleton visuals.
void	ToggleVisible ()
	Toggle whether this visual is visible.
void	Update ()
	Update the visual.
void	UpdateFromMsg (ConstVisualPtr &_msg)
	Update a visual based on a message.

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

Protected Attributes
VisualPtr	parent
	Parent visual.
ScenePtr	scene
	Pointer to the visual's scene.
Ogre::SceneNode *	sceneNode
	Pointer to the visual's scene node in Ogre.

Detailed Description

A renderable object.

Constructor & Destructor Documentation

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

Constructor.

Parameters

[in]	_name	Name of the visual.
[in]	_parent	Parent of the visual.
[in]	_useRTShader	True 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]	_name	Name of the visual.
[in]	_scene	Scene containing the visual.
[in]	_useRTShader	True if the visual should use the real-time shader system (RTShader).

virtual gazebo::rendering::Visual::~Visual ( )

virtual

Destructor.

Member Function Documentation

void gazebo::rendering::Visual::AttachAxes ( )

Attach visualization axes.

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

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* 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]	_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 gazebo::rendering::Visual::AttachObject ( Ogre::MovableObject * _obj )

Attach a renerable object to the visual.

Parameters

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

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

Attach a visual to this visual.

Parameters

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

Returns: The visual.

DynamicLines* gazebo::rendering::Visual::CreateDynamicLine ( RenderOpType _type = RENDERING_LINE_STRIP )

Add a line to the visual.

Parameters

[in] _type The 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] _line Pointer to the line to delete.

void gazebo::rendering::Visual::DetachObjects ( )

Detach all objects.

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

Detach a visual.

Parameters

[in] _vis Visual to detach.

void gazebo::rendering::Visual::DetachVisual ( const std::string & _name )

Detach a visual.

Parameters

[in] _name Name 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] _vis Visual to track.

void gazebo::rendering::Visual::Fini ( )

Helper for the destructor.

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.

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] _index Index 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.

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::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.

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".

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.

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_NOT_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] _name Name of an object to find.

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]	_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 gazebo::rendering::Visual::InsertMesh	(	const common::Mesh *	_mesh,
		const std::string &	_subMesh = `""`,
		bool	_centerSubmesh = `false`
	)

static

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 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] _sdf Load from an SDF element.

Reimplemented in gazebo::rendering::COMVisual.

virtual void gazebo::rendering::Visual::Load ( )

virtual

Load the visual with default parameters.

Reimplemented in gazebo::rendering::ArrowVisual, gazebo::rendering::SonarVisual, and gazebo::rendering::AxisVisual.

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

Load from a message.

Parameters

[in] _msg A visual message.

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

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 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]	_pose	Pose the visual will end at.
[in]	_time	Time 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]	_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.

void gazebo::rendering::Visual::RemovePlugin ( const std::string & _name )

Remove a running plugin.

Parameters

_name The unique name of the plugin to remove

void gazebo::rendering::Visual::SetAmbient ( const common::Color & _color )

Set the ambient color of the visual.

Parameters

[in] _color The ambient color.

void gazebo::rendering::Visual::SetCastShadows ( bool _shadows )

Set whether the visual should cast shadows.

Parameters

[in] _shadows True to enable shadows.

void gazebo::rendering::Visual::SetDiffuse ( const common::Color & _color )

Set the diffuse color of the visual.

Parameters

[in] _color Set the diffuse color.

virtual void gazebo::rendering::Visual::SetEmissive ( const common::Color & _color )

virtual

Set the emissive value.

Parameters

[in] _color The emissive color.

Reimplemented in gazebo::rendering::LaserVisual.

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

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.

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

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.

void gazebo::rendering::Visual::SetName ( const std::string & _name )

Set the name of the visual.

Parameters

[in] _name Name of the visual

void gazebo::rendering::Visual::SetNormalMap ( const std::string & _nmap )

Set the normal map.

Parameters

[in] _nmap Name of the normal map material.

void gazebo::rendering::Visual::SetPose ( const math::Pose & _pose )

Set the pose of the visual.

Parameters

[in] _pose The new pose of the visual.

void gazebo::rendering::Visual::SetPosition ( const math::Vector3 & _pos )

Set the position of the visual.

Parameters

[in] _pos The 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]	_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 gazebo::rendering::Visual::SetRotation ( const math::Quaternion & _rot )

Set the rotation of the visual.

Parameters

[in] _rot The rotation of the visual.

void gazebo::rendering::Visual::SetScale ( const math::Vector3 & _scale )

Set the scale.

Parameters

[in] _scale The scaling factor for the visual.

void gazebo::rendering::Visual::SetScene ( ScenePtr _scene )

Set current scene.

Parameters

[in] _scene Pointer to the scene.

void gazebo::rendering::Visual::SetShaderType ( const std::string & _type )

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 gazebo::rendering::Visual::SetSkeletonPose ( const msgs::PoseAnimation & _pose )

Set animation skeleton pose.

Parameters

[in] _pose Skelton message

void gazebo::rendering::Visual::SetSpecular ( const common::Color & _color )

Set the specular color of the visual.

Parameters

[in] _color Specular color.

void gazebo::rendering::Visual::SetTransparency ( float _trans )

Set the transparency.

Parameters

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

void gazebo::rendering::Visual::SetVisibilityFlags ( uint32_t _flags )

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_NOT_SELECTABLE

void gazebo::rendering::Visual::SetVisible	(	bool	_visible,
		bool	_cascade = `true`
	)

Set whether the visual is visible.

Parameters

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

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

Enable or disable wireframe for this visual.

Parameters

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

void gazebo::rendering::Visual::SetWorldPose ( const math::Pose _pose )

Set the world pose of the visual.

Parameters

[in] _pose Pose 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] _pose Position in the world coordinate frame.

void gazebo::rendering::Visual::SetWorldRotation ( const math::Quaternion & _rot )

Set the world orientation of the visual.

Parameters

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

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

Display Center of Mass visuals.

Parameters

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

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

Display joint visuals.

Parameters

[in] _show True to show joint visualizations.

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

Display the skeleton visuals.

Parameters

[in] _show True to show skeleton visuals.

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] _msg The visual message.

Member Data Documentation

VisualPtr gazebo::rendering::Visual::parent

protected

Parent visual.

ScenePtr gazebo::rendering::Visual::scene

protected

Pointer to the visual's scene.

Ogre::SceneNode* gazebo::rendering::Visual::sceneNode

protected

Pointer to the visual's scene node in Ogre.

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

Visual.hh

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation