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gazebo::rendering::Visual Class Reference

A renderable object. More...

#include <rendering/rendering.hh>

Inheritance diagram for gazebo::rendering::Visual:
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Collaboration diagram for gazebo::rendering::Visual:
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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 AttachAxes ()
 Attach visualization axes. 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...
 
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 Fini ()
 Helper for the destructor. 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...
 
VisualPtr GetChild (unsigned int _index)
 Get an attached visual based on an index. More...
 
unsigned int GetChildCount ()
 Get the number of attached visuals. 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...
 
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 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...
 
std::string GetShaderType () const
 Get the shader type. 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...
 
uint32_t GetVisibilityFlags ()
 Get visibility flags for this visual and all children. More...
 
bool GetVisible () const
 Get whether the visual is visible. More...
 
math::Pose GetWorldPose () const
 Get the global pose of the node. More...
 
bool HasAttachedObject (const std::string &_name)
 Returns true if an object with _name is attached. More...
 
void Init ()
 Helper for the contructor. More...
 
void InsertMesh (const std::string &_meshName, const std::string &_subMesh="", bool _centerSubmesh=false)
 Insert a mesh into Ogre. More...
 
bool IsPlane () const
 Return true if the visual is a plane. More...
 
bool IsStatic () const
 Return true if the visual is a static geometry. More...
 
void Load (sdf::ElementPtr _sdf)
 Load the visual with a set of parameters. More...
 
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)
 Set the ambient color of the visual. More...
 
void SetCastShadows (bool _shadows)
 Set whether the visual should cast shadows. More...
 
void SetDiffuse (const common::Color &_color)
 Set the diffuse color of the visual. More...
 
virtual void SetEmissive (const common::Color &_color)
 Set the emissive value. More...
 
void SetHighlighted (bool _highlighted)
 Set the visual to be visually highlighted. More...
 
void SetId (uint32_t _id)
 Set the id associated with this visual. More...
 
void SetLighting (bool _lighting)
 Set whether or not to enable or disable lighting. More...
 
void SetMaterial (const std::string &_materialName, bool _unique=true)
 Set the material. More...
 
void SetName (const std::string &_name)
 Set the name of the visual. More...
 
void SetNormalMap (const std::string &_nmap)
 Set the normal map. More...
 
void SetPose (const math::Pose &_pose)
 Set the pose of the visual. More...
 
void SetPosition (const math::Vector3 &_pos)
 Set the position of the visual. More...
 
void SetRibbonTrail (bool _value, const common::Color &_initialColor, const common::Color &_changeColor)
 True on or off a ribbon trail. More...
 
void SetRotation (const math::Quaternion &_rot)
 Set the rotation of the visual. More...
 
void SetScale (const math::Vector3 &_scale)
 Set the scale. More...
 
void SetScene (ScenePtr _scene)
 Set current scene. More...
 
void SetShaderType (const std::string &_type)
 Set the shader type for the visual's material. More...
 
void SetSkeletonPose (const msgs::PoseAnimation &_pose)
 Set animation skeleton pose. More...
 
void SetSpecular (const common::Color &_color)
 Set the specular color of the visual. More...
 
void SetTransparency (float _trans)
 Set the transparency. More...
 
void SetVisibilityFlags (uint32_t _flags)
 Set visibility flags for this visual and all children. More...
 
void SetVisible (bool _visible, bool _cascade=true)
 Set whether the visual is visible. More...
 
void SetWireframe (bool _show)
 Enable or disable wireframe for this visual. More...
 
void SetWorldPose (const math::Pose &_pose)
 Set the world pose of the visual. More...
 
void SetWorldPosition (const math::Vector3 &_pos)
 Set the world linear position of the visual. More...
 
void SetWorldRotation (const math::Quaternion &_rot)
 Set the world orientation of the visual. More...
 
void ShowBoundingBox ()
 Display the bounding box visual. More...
 
void ShowCollision (bool _show)
 Display the collision visuals. More...
 
void ShowCOM (bool _show)
 Display Center of Mass visuals. More...
 
void ShowJoints (bool _show)
 Display joint visuals. More...
 
void ShowSkeleton (bool _show)
 Display the skeleton visuals. 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...
 

Static Public Member Functions

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.

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::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]_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.
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.
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.
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]_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.
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.

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_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.
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::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)

Set the ambient color of the visual.

Parameters
[in]_colorThe ambient color.
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)

Set the diffuse color of the visual.

Parameters
[in]_colorSet the diffuse color.
virtual void gazebo::rendering::Visual::SetEmissive ( const common::Color _color)
virtual

Set the emissive value.

Parameters
[in]_colorThe 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]_highlightedTrue to enable the highlighting.
void gazebo::rendering::Visual::SetId ( uint32_t  _id)

Set the id associated with this visual.

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 
)

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.
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)

Set the specular color of the visual.

Parameters
[in]_colorSpecular color.
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::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
void gazebo::rendering::Visual::SetVisible ( bool  _visible,
bool  _cascade = true 
)

Set whether the visual is visible.

Parameters
[in]_visibleset this node visible.
[in]_cascadesetting this parameter in children too.
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::ShowJoints ( bool  _show)

Display joint visuals.

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

Display the skeleton visuals.

Parameters
[in]_showTrue 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]_msgThe visual message.

Member Data Documentation

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

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