mrs_lib::BatchVisualizer Class Reference

library for drawing large amounts of geometric objects in RVIZ at the same time More...

#include <batch_visualizer.h>

Public Member Functions
	BatchVisualizer ()
	dummy constructor
	~BatchVisualizer ()
	destructor
	BatchVisualizer (const std::shared_ptr< rclcpp::Node > &node, std::string marker_topic_name, std::string parent_frame)
	constructor to initialize the visualizer
void	addPoint (const Eigen::Vector3d &point, const double r=0.0, const double g=1.0, const double b=0.3, const double a=1.0, const rclcpp::Duration &timeout=rclcpp::Duration(std::chrono::seconds(0)))
	add a point to the buffer
void	addRay (const mrs_lib::geometry::Ray &ray, const double r=1.0, const double g=0.0, const double b=0.0, const double a=1.0, const rclcpp::Duration &timeout=rclcpp::Duration(std::chrono::seconds(0)))
	add a ray to the buffer
void	addTriangle (const mrs_lib::geometry::Triangle &tri, const double r=0.5, const double g=0.5, const double b=0.0, const double a=1.0, const bool filled=true, const rclcpp::Duration &timeout=rclcpp::Duration(std::chrono::seconds(0)))
	add a triangle to the buffer
void	addRectangle (const mrs_lib::geometry::Rectangle &rect, const double r=0.5, const double g=0.5, const double b=0.0, const double a=1.0, const bool filled=true, const rclcpp::Duration &timeout=rclcpp::Duration(std::chrono::seconds(0)))
	add a rectangle to the buffer
void	addCuboid (const mrs_lib::geometry::Cuboid &cuboid, const double r=0.5, const double g=0.5, const double b=0.0, const double a=1.0, const bool filled=true, const rclcpp::Duration &timeout=rclcpp::Duration(std::chrono::seconds(0)))
	add a cuboid to the buffer
void	addEllipse (const mrs_lib::geometry::Ellipse &ellipse, const double r=0.0, const double g=1.0, const double b=1.0, const double a=1.0, const bool filled=true, const int num_points=DEFAULT_ELLIPSE_POINTS, const rclcpp::Duration &timeout=rclcpp::Duration(std::chrono::seconds(0)))
	add an ellipse to the buffer
void	addCylinder (const mrs_lib::geometry::Cylinder &cylinder, const double r=0.7, const double g=0.8, const double b=0.3, const double a=1.0, const bool filled=true, const bool capped=true, const int sides=DEFAULT_ELLIPSE_POINTS, const rclcpp::Duration &timeout=rclcpp::Duration(std::chrono::seconds(0)))
	add a cylinder to the buffer
void	addCone (const mrs_lib::geometry::Cone &cone, const double r=0.7, const double g=0.8, const double b=0.3, const double a=1.0, const bool filled=true, const bool capped=true, const int sides=DEFAULT_ELLIPSE_POINTS, const rclcpp::Duration &timeout=rclcpp::Duration(std::chrono::seconds(0)))
	add a cone to the buffer
void	addPath (const mrs_msgs::msg::Path &p, const double r=0.3, const double g=1.0, const double b=0.3, const double a=1.0, const bool filled=true, const rclcpp::Duration &timeout=rclcpp::Duration(std::chrono::seconds(0)))
	add a path to the buffer
void	addTrajectory (const mrs_msgs::msg::TrajectoryReference &traj, const double r=0.3, const double g=1.0, const double b=0.3, const double a=1.0, const bool filled=true, const rclcpp::Duration &timeout=rclcpp::Duration(std::chrono::seconds(0)))
	add a trajectory to the buffer
void	addNullPoint ()
	helper function for adding an invisible point to the object buffer
void	addNullLine ()
	helper function for adding an invisible line to the object buffer
void	addNullTriangle ()
	helper function for adding an invisible triangle to the buffer
void	setPointsScale (const double scale)
	set the scale of all points
void	setParentFrame (const std::string parent_frame)
	set the parent frame_id
void	setLinesScale (const double scale)
	set the thickness of all lines
void	clearBuffers ()
	remove all objects from the buffer
void	clearVisuals ()
	publishes an empty message. Removes all objects drawn onto the scene, but keeps them in buffer
void	publish ()
	publish the visual markers rclcpp message and populates it with buffer content
void	publish (const rclcpp::Time stamp)
	publish the visual markers rclcpp message with desired stamp and populates it with buffer content

Detailed Description

library for drawing large amounts of geometric objects in RVIZ at the same time

Constructor & Destructor Documentation

BatchVisualizer()

mrs_lib::BatchVisualizer::BatchVisualizer	(	const std::shared_ptr< rclcpp::Node > &	node,
		std::string	marker_topic_name,
		std::string	parent_frame
	)

constructor to initialize the visualizer

Parameters

node	rclcpp node pointer to connect our publisher to rclcpp
marker_topic_name	name of the topic on which the markers will be published
parent_frame	name of the frame to which the markers will be linked

Member Function Documentation

addCone()

void mrs_lib::BatchVisualizer::addCone	(	const mrs_lib::geometry::Cone &	cone,
		const double	r = 0.7,
		const double	g = 0.8,
		const double	b = 0.3,
		const double	a = 1.0,
		const bool	filled = true,
		const bool	capped = true,
		const int	sides = DEFAULT_ELLIPSE_POINTS,
		const rclcpp::Duration &	timeout = rclcpp::Duration(std::chrono::seconds(0))
	)

add a cone to the buffer

Parameters

cone	cone to be added
r	red color in range <0,1>
g	green color in range <0,1>
b	blue color in range <0,1>
a	alpha in range <0,1> (0 is fully transparent)
filled	bool to set fill. True = face visible, False = outline visible
capped	bool to set caps on/off. True = cap drawn, False = base cap missing
sides	number of points to approximate the round shape
timeout	time in seconds after which the object should be removed from buffer

addCuboid()

void mrs_lib::BatchVisualizer::addCuboid	(	const mrs_lib::geometry::Cuboid &	cuboid,
		const double	r = 0.5,
		const double	g = 0.5,
		const double	b = 0.0,
		const double	a = 1.0,
		const bool	filled = true,
		const rclcpp::Duration &	timeout = rclcpp::Duration(std::chrono::seconds(0))
	)

add a cuboid to the buffer

Parameters

cuboid	cuboid to be added
r	red color in range <0,1>
g	green color in range <0,1>
b	blue color in range <0,1>
a	alpha in range <0,1> (0 is fully transparent)
filled	bool to set fill. True = face visible, False = outline visible
timeout	time in seconds after which the object should be removed from buffer

addCylinder()

void mrs_lib::BatchVisualizer::addCylinder	(	const mrs_lib::geometry::Cylinder &	cylinder,
		const double	r = 0.7,
		const double	g = 0.8,
		const double	b = 0.3,
		const double	a = 1.0,
		const bool	filled = true,
		const bool	capped = true,
		const int	sides = DEFAULT_ELLIPSE_POINTS,
		const rclcpp::Duration &	timeout = rclcpp::Duration(std::chrono::seconds(0))
	)

add a cylinder to the buffer

Parameters

cylinder	cylinder to be added
r	red color in range <0,1>
g	green color in range <0,1>
b	blue color in range <0,1>
a	alpha in range <0,1> (0 is fully transparent)
filled	bool to set fill. True = face visible, False = outline visible
capped	bool to set caps on/off. True = caps drawn, False = hollow cylinder
sides	number of points to approximate the round shape
timeout	time in seconds after which the object should be removed from buffer

addEllipse()

void mrs_lib::BatchVisualizer::addEllipse	(	const mrs_lib::geometry::Ellipse &	ellipse,
		const double	r = 0.0,
		const double	g = 1.0,
		const double	b = 1.0,
		const double	a = 1.0,
		const bool	filled = true,
		const int	num_points = DEFAULT_ELLIPSE_POINTS,
		const rclcpp::Duration &	timeout = rclcpp::Duration(std::chrono::seconds(0))
	)

add an ellipse to the buffer

Parameters

ellipse	ellipse to be added
r	red color in range <0,1>
g	green color in range <0,1>
b	blue color in range <0,1>
a	alpha in range <0,1> (0 is fully transparent)
filled	bool to set fill. True = face visible, False = outline visible
num_points	number of points to approximate the round shape
timeout	time in seconds after which the object should be removed from buffer

addPath()

void mrs_lib::BatchVisualizer::addPath	(	const mrs_msgs::msg::Path &	p,
		const double	r = 0.3,
		const double	g = 1.0,
		const double	b = 0.3,
		const double	a = 1.0,
		const bool	filled = true,
		const rclcpp::Duration &	timeout = rclcpp::Duration(std::chrono::seconds(0))
	)

add a path to the buffer

Parameters

p	path to be added
r	red color in range <0,1>
g	green color in range <0,1>
b	blue color in range <0,1>
a	alpha in range <0,1> (0 is fully transparent)
filled	bool to set fill. True = continuous line, False = only visualize points
timeout	time in seconds after which the object should be removed from buffer

addPoint()

void mrs_lib::BatchVisualizer::addPoint	(	const Eigen::Vector3d &	point,
		const double	r = 0.0,
		const double	g = 1.0,
		const double	b = 0.3,
		const double	a = 1.0,
		const rclcpp::Duration &	timeout = rclcpp::Duration(std::chrono::seconds(0))
	)

add a point to the buffer

Parameters

point	coordinates of the point
r	red color in range <0,1>
g	green color in range <0,1>
b	blue color in range <0,1>
a	alpha in range <0,1> (0 is fully transparent)
timeout	time in seconds after which the object should be removed from buffer

addRay()

void mrs_lib::BatchVisualizer::addRay	(	const mrs_lib::geometry::Ray &	ray,
		const double	r = 1.0,
		const double	g = 0.0,
		const double	b = 0.0,
		const double	a = 1.0,
		const rclcpp::Duration &	timeout = rclcpp::Duration(std::chrono::seconds(0))
	)

add a ray to the buffer

Parameters

ray	ray to be added
r	red color in range <0,1>
g	green color in range <0,1>
b	blue color in range <0,1>
a	alpha in range <0,1> (0 is fully transparent)
timeout	time in seconds after which the object should be removed from buffer

addRectangle()

void mrs_lib::BatchVisualizer::addRectangle	(	const mrs_lib::geometry::Rectangle &	rect,
		const double	r = 0.5,
		const double	g = 0.5,
		const double	b = 0.0,
		const double	a = 1.0,
		const bool	filled = true,
		const rclcpp::Duration &	timeout = rclcpp::Duration(std::chrono::seconds(0))
	)

add a rectangle to the buffer

Parameters

rect	rectangle to be added
r	red color in range <0,1>
g	green color in range <0,1>
b	blue color in range <0,1>
a	alpha in range <0,1> (0 is fully transparent)
filled	bool to set fill. True = face visible, False = outline visible
timeout	time in seconds after which the object should be removed from buffer

addTrajectory()

void mrs_lib::BatchVisualizer::addTrajectory	(	const mrs_msgs::msg::TrajectoryReference &	traj,
		const double	r = 0.3,
		const double	g = 1.0,
		const double	b = 0.3,
		const double	a = 1.0,
		const bool	filled = true,
		const rclcpp::Duration &	timeout = rclcpp::Duration(std::chrono::seconds(0))
	)

add a trajectory to the buffer

Parameters

traj	trajectory reference to be added
r	red color in range <0,1>
g	green color in range <0,1>
b	blue color in range <0,1>
a	alpha in range <0,1> (0 is fully transparent)
filled	bool to set fill. True = continuous line, False = only visualize points
timeout	time in seconds after which the object should be removed from buffer

addTriangle()

void mrs_lib::BatchVisualizer::addTriangle	(	const mrs_lib::geometry::Triangle &	tri,
		const double	r = 0.5,
		const double	g = 0.5,
		const double	b = 0.0,
		const double	a = 1.0,
		const bool	filled = true,
		const rclcpp::Duration &	timeout = rclcpp::Duration(std::chrono::seconds(0))
	)

add a triangle to the buffer

Parameters

tri	triangle to be added
r	red color in range <0,1>
g	green color in range <0,1>
b	blue color in range <0,1>
a	alpha in range <0,1> (0 is fully transparent)
filled	bool to set fill. True = face visible, False = outline visible
timeout	time in seconds after which the object should be removed from buffer

setLinesScale()

void mrs_lib::BatchVisualizer::setLinesScale

(

const double

scale

)

set the thickness of all lines

Parameters

scale

setParentFrame()

void mrs_lib::BatchVisualizer::setParentFrame

(

const std::string

parent_frame

)

set the parent frame_id

Parameters

parent_frame

setPointsScale()

void mrs_lib::BatchVisualizer::setPointsScale

(

const double

scale

)

set the scale of all points

Parameters

scale

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

• include/mrs_lib/batch_visualizer.h
• src/batch_visualizer/batch_visualizer.cpp