#include <trajectory_visualization.h>

Inheritance diagram for moveit_rviz_plugin::TrajectoryVisualization:

Collaboration diagram for moveit_rviz_plugin::TrajectoryVisualization:

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Public Slots
void	interruptCurrentDisplay ()

void	setDefaultAttachedObjectColor (const QColor &color)

Public Member Functions
	TrajectoryVisualization (rviz_common::properties::Property widget, rviz_common::Display display)
	Playback a trajectory from a planned path. More...

	~TrajectoryVisualization () override

virtual void	update (double wall_dt, double sim_dt)

virtual void	reset ()

void	onInitialize (const rclcpp::Node::SharedPtr &node, Ogre::SceneNode scene_node, rviz_common::DisplayContext context)

void	clearRobotModel ()

void	onRobotModelLoaded (const moveit::core::RobotModelConstPtr &robot_model)

void	onEnable ()

void	onDisable ()

void	setName (const QString &name)

void	dropTrajectory ()

Protected Member Functions
void	incomingDisplayTrajectory (const moveit_msgs::msg::DisplayTrajectory::ConstSharedPtr &msg)
	ROS callback for an incoming path message. More...

double	getStateDisplayTime ()
	get time to show each single robot state More...

void	clearTrajectoryTrail ()

void	setRobotColor (rviz_default_plugins::robot::Robot *robot, const QColor &color)

void	unsetRobotColor (rviz_default_plugins::robot::Robot *robot)

Protected Attributes
RobotStateVisualizationPtr	display_path_robot_

std_msgs::msg::ColorRGBA	default_attached_object_color_

robot_trajectory::RobotTrajectoryPtr	displaying_trajectory_message_

robot_trajectory::RobotTrajectoryPtr	trajectory_message_to_display_

std::vector< RobotStateVisualizationUniquePtr >	trajectory_trail_

rclcpp::Subscription< moveit_msgs::msg::DisplayTrajectory >::SharedPtr	trajectory_topic_sub_

bool	animating_path_

bool	drop_displaying_trajectory_

int	current_state_

double	current_state_time_

std::mutex	update_trajectory_message_

moveit::core::RobotModelConstPtr	robot_model_

moveit::core::RobotStatePtr	robot_state_

rviz_common::Display *	display_

rviz_common::properties::Property *	widget_

Ogre::SceneNode *	scene_node_

rviz_common::DisplayContext *	context_

rclcpp::Node::SharedPtr	node_

TrajectoryPanel *	trajectory_slider_panel_

rviz_common::PanelDockWidget *	trajectory_slider_dock_panel_

rclcpp::Logger	logger_

rviz_common::properties::BoolProperty *	display_path_visual_enabled_property_

rviz_common::properties::BoolProperty *	display_path_collision_enabled_property_

rviz_common::properties::EditableEnumProperty *	state_display_time_property_

rviz_common::properties::RosTopicProperty *	trajectory_topic_property_

rviz_common::properties::FloatProperty *	robot_path_alpha_property_

rviz_common::properties::BoolProperty *	loop_display_property_

rviz_common::properties::BoolProperty *	use_sim_time_property_

rviz_common::properties::BoolProperty *	trail_display_property_

rviz_common::properties::BoolProperty *	interrupt_display_property_

rviz_common::properties::ColorProperty *	robot_color_property_

rviz_common::properties::BoolProperty *	enable_robot_color_property_

rviz_common::properties::IntProperty *	trail_step_size_property_

Detailed Description

Definition at line 76 of file trajectory_visualization.h.

Constructor & Destructor Documentation

◆ TrajectoryVisualization()

moveit_rviz_plugin::TrajectoryVisualization::TrajectoryVisualization	(	rviz_common::properties::Property *	widget,
		rviz_common::Display *	display
	)

Playback a trajectory from a planned path.

Parameters

widget	- either a rviz::Display or rviz::Property
display	- the rviz::Display from the parent

Returns: true on success

Definition at line 66 of file trajectory_visualization.cpp.

◆ ~TrajectoryVisualization()

moveit_rviz_plugin::TrajectoryVisualization::~TrajectoryVisualization ( )

override

Definition at line 141 of file trajectory_visualization.cpp.

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Member Function Documentation

◆ clearRobotModel()

void moveit_rviz_plugin::TrajectoryVisualization::clearRobotModel ( )

Definition at line 659 of file trajectory_visualization.cpp.

◆ clearTrajectoryTrail()

void moveit_rviz_plugin::TrajectoryVisualization::clearTrajectoryTrail ( )

protected

Definition at line 233 of file trajectory_visualization.cpp.

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◆ dropTrajectory()

void moveit_rviz_plugin::TrajectoryVisualization::dropTrajectory ( )

Definition at line 414 of file trajectory_visualization.cpp.

◆ getStateDisplayTime()

double moveit_rviz_plugin::TrajectoryVisualization::getStateDisplayTime ( )

protected

get time to show each single robot state

Returns: Positive values indicate a fixed time per state Negative values indicate a realtime-factor

Definition at line 367 of file trajectory_visualization.cpp.

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◆ incomingDisplayTrajectory()

void moveit_rviz_plugin::TrajectoryVisualization::incomingDisplayTrajectory ( const moveit_msgs::msg::DisplayTrajectory::ConstSharedPtr & msg )

protected

ROS callback for an incoming path message.

Definition at line 548 of file trajectory_visualization.cpp.

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◆ interruptCurrentDisplay

void moveit_rviz_plugin::TrajectoryVisualization::interruptCurrentDisplay ( )

slot

Definition at line 358 of file trajectory_visualization.cpp.

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◆ onDisable()

void moveit_rviz_plugin::TrajectoryVisualization::onDisable ( )

Definition at line 347 of file trajectory_visualization.cpp.

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◆ onEnable()

void moveit_rviz_plugin::TrajectoryVisualization::onEnable ( )

Definition at line 330 of file trajectory_visualization.cpp.

◆ onInitialize()

void moveit_rviz_plugin::TrajectoryVisualization::onInitialize	(	const rclcpp::Node::SharedPtr &	node,
		Ogre::SceneNode *	scene_node,
		rviz_common::DisplayContext *	context
	)

Definition at line 152 of file trajectory_visualization.cpp.

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◆ onRobotModelLoaded()

void moveit_rviz_plugin::TrajectoryVisualization::onRobotModelLoaded ( const moveit::core::RobotModelConstPtr & robot_model )

Definition at line 197 of file trajectory_visualization.cpp.

◆ reset()

void moveit_rviz_plugin::TrajectoryVisualization::reset ( )

virtual

Definition at line 221 of file trajectory_visualization.cpp.

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◆ setDefaultAttachedObjectColor

void moveit_rviz_plugin::TrajectoryVisualization::setDefaultAttachedObjectColor ( const QColor & color )

slot

Definition at line 622 of file trajectory_visualization.cpp.

◆ setName()

void moveit_rviz_plugin::TrajectoryVisualization::setName ( const QString & name )

Definition at line 191 of file trajectory_visualization.cpp.

◆ setRobotColor()

void moveit_rviz_plugin::TrajectoryVisualization::setRobotColor	(	rviz_default_plugins::robot::Robot *	robot,
		const QColor &	color
	)

protected

Definition at line 638 of file trajectory_visualization.cpp.

◆ unsetRobotColor()

void moveit_rviz_plugin::TrajectoryVisualization::unsetRobotColor ( rviz_default_plugins::robot::Robot * robot )

protected

Definition at line 616 of file trajectory_visualization.cpp.

◆ update()

void moveit_rviz_plugin::TrajectoryVisualization::update	(	double	wall_dt,
		double	sim_dt
	)

virtual

Definition at line 419 of file trajectory_visualization.cpp.

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Member Data Documentation

◆ animating_path_

bool moveit_rviz_plugin::TrajectoryVisualization::animating_path_

protected

Definition at line 151 of file trajectory_visualization.h.

◆ context_

rviz_common::DisplayContext* moveit_rviz_plugin::TrajectoryVisualization::context_

protected

Definition at line 164 of file trajectory_visualization.h.

◆ current_state_

int moveit_rviz_plugin::TrajectoryVisualization::current_state_

protected

Definition at line 153 of file trajectory_visualization.h.

◆ current_state_time_

double moveit_rviz_plugin::TrajectoryVisualization::current_state_time_

protected

Definition at line 154 of file trajectory_visualization.h.

◆ default_attached_object_color_

std_msgs::msg::ColorRGBA moveit_rviz_plugin::TrajectoryVisualization::default_attached_object_color_

protected

Definition at line 141 of file trajectory_visualization.h.

◆ display_

rviz_common::Display* moveit_rviz_plugin::TrajectoryVisualization::display_

protected

Definition at line 161 of file trajectory_visualization.h.

◆ display_path_collision_enabled_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::TrajectoryVisualization::display_path_collision_enabled_property_

protected

Definition at line 172 of file trajectory_visualization.h.

◆ display_path_robot_

RobotStateVisualizationPtr moveit_rviz_plugin::TrajectoryVisualization::display_path_robot_

protected

Definition at line 140 of file trajectory_visualization.h.

◆ display_path_visual_enabled_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::TrajectoryVisualization::display_path_visual_enabled_property_

protected

Definition at line 171 of file trajectory_visualization.h.

◆ displaying_trajectory_message_

robot_trajectory::RobotTrajectoryPtr moveit_rviz_plugin::TrajectoryVisualization::displaying_trajectory_message_

protected

Definition at line 147 of file trajectory_visualization.h.

◆ drop_displaying_trajectory_

bool moveit_rviz_plugin::TrajectoryVisualization::drop_displaying_trajectory_

protected

Definition at line 152 of file trajectory_visualization.h.

◆ enable_robot_color_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::TrajectoryVisualization::enable_robot_color_property_

protected

Definition at line 181 of file trajectory_visualization.h.

◆ interrupt_display_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::TrajectoryVisualization::interrupt_display_property_

protected

Definition at line 179 of file trajectory_visualization.h.

◆ logger_

rclcpp::Logger moveit_rviz_plugin::TrajectoryVisualization::logger_

protected

Definition at line 168 of file trajectory_visualization.h.

◆ loop_display_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::TrajectoryVisualization::loop_display_property_

protected

Definition at line 176 of file trajectory_visualization.h.

◆ node_

rclcpp::Node::SharedPtr moveit_rviz_plugin::TrajectoryVisualization::node_

protected

Definition at line 165 of file trajectory_visualization.h.

◆ robot_color_property_

rviz_common::properties::ColorProperty* moveit_rviz_plugin::TrajectoryVisualization::robot_color_property_

protected

Definition at line 180 of file trajectory_visualization.h.

◆ robot_model_

moveit::core::RobotModelConstPtr moveit_rviz_plugin::TrajectoryVisualization::robot_model_

protected

Definition at line 157 of file trajectory_visualization.h.

◆ robot_path_alpha_property_

rviz_common::properties::FloatProperty* moveit_rviz_plugin::TrajectoryVisualization::robot_path_alpha_property_

protected

Definition at line 175 of file trajectory_visualization.h.

◆ robot_state_

moveit::core::RobotStatePtr moveit_rviz_plugin::TrajectoryVisualization::robot_state_

protected

Definition at line 158 of file trajectory_visualization.h.

◆ scene_node_

Ogre::SceneNode* moveit_rviz_plugin::TrajectoryVisualization::scene_node_

protected

Definition at line 163 of file trajectory_visualization.h.

◆ state_display_time_property_

rviz_common::properties::EditableEnumProperty* moveit_rviz_plugin::TrajectoryVisualization::state_display_time_property_

protected

Definition at line 173 of file trajectory_visualization.h.

◆ trail_display_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::TrajectoryVisualization::trail_display_property_

protected

Definition at line 178 of file trajectory_visualization.h.

◆ trail_step_size_property_

rviz_common::properties::IntProperty* moveit_rviz_plugin::TrajectoryVisualization::trail_step_size_property_

protected

Definition at line 182 of file trajectory_visualization.h.

◆ trajectory_message_to_display_

robot_trajectory::RobotTrajectoryPtr moveit_rviz_plugin::TrajectoryVisualization::trajectory_message_to_display_

protected

Definition at line 148 of file trajectory_visualization.h.

◆ trajectory_slider_dock_panel_

rviz_common::PanelDockWidget* moveit_rviz_plugin::TrajectoryVisualization::trajectory_slider_dock_panel_

protected

Definition at line 167 of file trajectory_visualization.h.

◆ trajectory_slider_panel_

TrajectoryPanel* moveit_rviz_plugin::TrajectoryVisualization::trajectory_slider_panel_

protected

Definition at line 166 of file trajectory_visualization.h.

◆ trajectory_topic_property_

rviz_common::properties::RosTopicProperty* moveit_rviz_plugin::TrajectoryVisualization::trajectory_topic_property_

protected

Definition at line 174 of file trajectory_visualization.h.

◆ trajectory_topic_sub_

rclcpp::Subscription<moveit_msgs::msg::DisplayTrajectory>::SharedPtr moveit_rviz_plugin::TrajectoryVisualization::trajectory_topic_sub_

protected

Definition at line 150 of file trajectory_visualization.h.

◆ trajectory_trail_

std::vector<RobotStateVisualizationUniquePtr> moveit_rviz_plugin::TrajectoryVisualization::trajectory_trail_

protected

Definition at line 149 of file trajectory_visualization.h.

◆ update_trajectory_message_

std::mutex moveit_rviz_plugin::TrajectoryVisualization::update_trajectory_message_

protected

Definition at line 155 of file trajectory_visualization.h.

◆ use_sim_time_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::TrajectoryVisualization::use_sim_time_property_

protected

Definition at line 177 of file trajectory_visualization.h.

◆ widget_

rviz_common::properties::Property* moveit_rviz_plugin::TrajectoryVisualization::widget_

protected

Definition at line 162 of file trajectory_visualization.h.

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

moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp

Public Slots

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TrajectoryVisualization()

◆ ~TrajectoryVisualization()

Member Function Documentation

◆ clearRobotModel()

◆ clearTrajectoryTrail()

◆ dropTrajectory()

◆ getStateDisplayTime()

◆ incomingDisplayTrajectory()

◆ interruptCurrentDisplay

◆ onDisable()

◆ onEnable()

◆ onInitialize()

◆ onRobotModelLoaded()

◆ reset()

◆ setDefaultAttachedObjectColor

◆ setName()

◆ setRobotColor()

◆ unsetRobotColor()

◆ update()

Member Data Documentation

◆ animating_path_

◆ context_

◆ current_state_

◆ current_state_time_

◆ default_attached_object_color_

◆ display_

◆ display_path_collision_enabled_property_

◆ display_path_robot_

◆ display_path_visual_enabled_property_

◆ displaying_trajectory_message_

◆ drop_displaying_trajectory_

◆ enable_robot_color_property_

◆ interrupt_display_property_

◆ logger_

◆ loop_display_property_

◆ node_

◆ robot_color_property_

◆ robot_model_

◆ robot_path_alpha_property_

◆ robot_state_

◆ scene_node_

◆ state_display_time_property_

◆ trail_display_property_

◆ trail_step_size_property_

◆ trajectory_message_to_display_

◆ trajectory_slider_dock_panel_

◆ trajectory_slider_panel_

◆ trajectory_topic_property_

◆ trajectory_topic_sub_

◆ trajectory_trail_

◆ update_trajectory_message_

◆ use_sim_time_property_

◆ widget_