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 (ros::NodeHandle &nh, std::string marker_topic_name, std::string parent_frame)
	constructor to initialize the visualizer More...
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 ros::Duration &timeout=ros::Duration(0))
	add a point to the buffer More...
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 ros::Duration &timeout=ros::Duration(0))
	add a ray to the buffer More...
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 ros::Duration &timeout=ros::Duration(0))
	add a triangle to the buffer More...
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 ros::Duration &timeout=ros::Duration(0))
	add a rectangle to the buffer More...
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 ros::Duration &timeout=ros::Duration(0))
	add a cuboid to the buffer More...
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 ros::Duration &timeout=ros::Duration(0))
	add an ellipse to the buffer More...
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 ros::Duration &timeout=ros::Duration(0))
	add a cylinder to the buffer More...
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 ros::Duration &timeout=ros::Duration(0))
	add a cone to the buffer More...
void	addPath (const mrs_msgs::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 ros::Duration &timeout=ros::Duration(0))
	add a path to the buffer More...
void	addTrajectory (const mrs_msgs::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 ros::Duration &timeout=ros::Duration(0))
	add a trajectory to the buffer More...
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 More...
void	setParentFrame (const std::string parent_frame)
	set the parent frame_id More...
void	setLinesScale (const double scale)
	set the thickness of all lines More...
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 ROS message 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	(	ros::NodeHandle &	nh,
		std::string	marker_topic_name,
		std::string	parent_frame
	)

constructor to initialize the visualizer

Parameters

nh	ROS node to connect our publisher to ROS
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 ros::Duration &	timeout = ros::Duration(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 ros::Duration &	timeout = ros::Duration(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 ros::Duration &	timeout = ros::Duration(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 ros::Duration &	timeout = ros::Duration(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::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 ros::Duration &	timeout = ros::Duration(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 ros::Duration &	timeout = ros::Duration(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 ros::Duration &	timeout = ros::Duration(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 ros::Duration &	timeout = ros::Duration(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::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 ros::Duration &	timeout = ros::Duration(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 ros::Duration &	timeout = ros::Duration(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