This class implements visualization functionalities for RViz. More...

#include <rvisualizer.h>

Inheritance diagram for arl::viz::RVisualizer:

Collaboration diagram for arl::viz::RVisualizer:

Public Member Functions
	RVisualizer ()
	The default constructor which initializes the object with the default topic and base frame. More...

	RVisualizer (const std::string &base_frame, const std::string &rviz_topic=DEFAULT_RVIZ_TOPIC)
	The constructor used in order to specify different base frame or topic than the defaults. More...

template<typename T >
void	visualizePath (const std::vector< T > &points, rviz_visual_tools::colors color=rviz_visual_tools::colors::RED, double radius=0.01, double alpha=1, double lifetime=0)
	Visualizes a set of points as a connected path in RViz. The points can be any type which implements the operator(). More...

template<typename T >
void	visualizeSphere (const T &center, const double radius, rviz_visual_tools::colors color=rviz_visual_tools::colors::RED, double alpha=1, double lifetime=0)
	Visualizes a a sphere in RViz. The center of the sphere can be any type which implements the operator(). More...

template<typename T >
void	visualizeSpheres (const std::vector< T > &centers, const std::vector< double > &radii, rviz_visual_tools::colors color=rviz_visual_tools::colors::RED, double alpha=1, double lifetime=0)
	Visualizes a set of spheres in RViz. The centers of the sphere can be any type which implements the operator(). More...

void	visualizeFrame (const arma::mat &pose, double length=0.1, double width=0.01, double alpha=1, double lifetime=0)
	Visualizes an armadillo frame given as a 3x4 homogeneous transformation, having the rotation matrix in the first 3 columns and the position of the origin on the last column. More...

void	visualizeFrame (const KDL::Frame &pose, double length=0.1, double radius=0.01, double alpha=1, double lifetime=0)
	Visualizes a KDL frame. More...

void	visualizeText (const arma::mat &pose, const std::string &text, rviz_visual_tools::colors color=rviz_visual_tools::colors::WHITE, rviz_visual_tools::scales scale=rviz_visual_tools::scales::REGULAR, double alpha=1, double lifetime=0)

template<typename T >
void	visualizeCylinder (const T &point_1, const T &point_2, const double radius, rviz_visual_tools::colors color=rviz_visual_tools::colors::RED, double alpha=1, double lifetime=0)
	Visualizes a cylinder in RViz. Needs a line segment in space (two points) which implement the operator() and its radius. More...

template<typename T >
void	visualizeVector (const T &start, const T &end, double width=0.05, rviz_visual_tools::colors color=rviz_visual_tools::colors::RED, double alpha=1, double lifetime=0)
	Visualizes a vector/arrow in RViz. Needs two 3D points in space which represent the start and the the end of the vector. More...

template<typename T >
void	visualizeBox (const T &top, const T &bottom, rviz_visual_tools::colors color=rviz_visual_tools::colors::RED, double alpha=1, double lifetime=0)
	Visualizes a cuboid (a paralliped box) in RViz. Needs two 3D points in space which represent the top corner of the box and the bottom opposite corner. More...

template<typename T >
void	visualizeLine (const T &start, const T &end, rviz_visual_tools::colors color=rviz_visual_tools::colors::RED, double alpha=1, double lifetime=0)
	Visualizes a line segment in RViz. More...

Public Attributes
visualization_msgs::Marker	vector_marker_

Detailed Description

This class implements visualization functionalities for RViz.

Attention: This class provides API with ROS which does not guarantee real-time performace. This means that calling a function of this class does not guarantee that it will return quickly or in a predictable time, as it interfaces with ROS topics. If you want to visualize data from a robot controller which runs in real H/W, please do it from a seperate thread and not inside the thread of your controller.

Constructor & Destructor Documentation

arl::viz::RVisualizer::RVisualizer ( )

The default constructor which initializes the object with the default topic and base frame.

arl::viz::RVisualizer::RVisualizer	(	const std::string &	base_frame,
		const std::string &	rviz_topic = `DEFAULT_RVIZ_TOPIC`
	)

The constructor used in order to specify different base frame or topic than the defaults.

Parameters

base_frame	The name of the base frame
rviz_topic	The name of the ROS topic

Member Function Documentation

template<typename T >

void arl::viz::RVisualizer::visualizeBox	(	const T &	top,
		const T &	bottom,
		rviz_visual_tools::colors	color = `rviz_visual_tools::colors::RED`,
		double	alpha = `1`,
		double	lifetime = `0`
	)

inline

Visualizes a cuboid (a paralliped box) in RViz. Needs two 3D points in space which represent the top corner of the box and the bottom opposite corner.

Parameters

top	The top corner of the box
bottom	The bottom corner of the box
color	The color of the path defined in the enum rviz_visual_tools::colors.
alpha	The opacity of the path from 0 to 1
lifetime	The amount of time to be visualized in seconds. 0 stands for infinite time

template<typename T >

void arl::viz::RVisualizer::visualizeCylinder	(	const T &	point_1,
		const T &	point_2,
		const double	radius,
		rviz_visual_tools::colors	color = `rviz_visual_tools::colors::RED`,
		double	alpha = `1`,
		double	lifetime = `0`
	)

inline

Visualizes a cylinder in RViz. Needs a line segment in space (two points) which implement the operator() and its radius.

Parameters

point_1	The first point of the line segment
point_2	The second point of the line segment
radius	The radius of the cylinder in m
color	The color of the path defined in the enum rviz_visual_tools::colors.
alpha	The opacity of the path from 0 to 1
lifetime	The amount of time to be visualized in seconds. 0 stands for infinite time

void arl::viz::RVisualizer::visualizeFrame	(	const arma::mat &	pose,
		double	length = `0.1`,
		double	width = `0.01`,
		double	alpha = `1`,
		double	lifetime = `0`
	)

Visualizes an armadillo frame given as a 3x4 homogeneous transformation, having the rotation matrix in the first 3 columns and the position of the origin on the last column.

Parameters

pose	The homogeneous transformation
length	The length of the axes
width	The width of the axes
alpha	The opacity from 0 to 1
lifetime	The amount of time to be visualized in seconds. 0 stands for infinite time

Here is the call graph for this function:

void arl::viz::RVisualizer::visualizeFrame	(	const KDL::Frame &	pose,
		double	length = `0.1`,
		double	radius = `0.01`,
		double	alpha = `1`,
		double	lifetime = `0`
	)

Visualizes a KDL frame.

Parameters

pose	The pose of the frame
length	The length of the axes
width	The width of the axes
alpha	The opacity from 0 to 1
lifetime	The amount of time to be visualized in seconds. 0 stands for infinite time

Here is the call graph for this function:

template<typename T >

void arl::viz::RVisualizer::visualizeLine	(	const T &	start,
		const T &	end,
		rviz_visual_tools::colors	color = `rviz_visual_tools::colors::RED`,
		double	alpha = `1`,
		double	lifetime = `0`
	)

inline

Visualizes a line segment in RViz.

Parameters

start	The first point of the line segment. Any 3d-vector that implements operator().
end	The second point of the line segment. Any 3d-vector that implements operator().
color	Its color. Available colors in rviz_visual_tools.
alpha	Its opacity.
lifetime	The amount of time to be visualized in seconds. 0 stands for infinite time.

template<typename T >

void arl::viz::RVisualizer::visualizePath	(	const std::vector< T > &	points,
		rviz_visual_tools::colors	color = `rviz_visual_tools::colors::RED`,
		double	radius = `0.01`,
		double	alpha = `1`,
		double	lifetime = `0`
	)

inline

Visualizes a set of points as a connected path in RViz. The points can be any type which implements the operator().

Parameters

points	The set of points to be visualized
color	The color of the path defined in the enum rviz_visual_tools::colors.
radius	The width of path
alpha	The opacity of the path from 0 to 1
lifetime	The amount of time to be visualized in seconds. 0 stands for infinite time

template<typename T >

void arl::viz::RVisualizer::visualizeSphere	(	const T &	center,
		const double	radius,
		rviz_visual_tools::colors	color = `rviz_visual_tools::colors::RED`,
		double	alpha = `1`,
		double	lifetime = `0`
	)

inline

Visualizes a a sphere in RViz. The center of the sphere can be any type which implements the operator().

Parameters

center	The center of the sphere in m
radius	The radius of the sphere in m
color	The color of the path defined in the enum rviz_visual_tools::colors.
alpha	The opacity of the path from 0 to 1
lifetime	The amount of time to be visualized in seconds. 0 stands for infinite time

template<typename T >

void arl::viz::RVisualizer::visualizeSpheres	(	const std::vector< T > &	centers,
		const std::vector< double > &	radii,
		rviz_visual_tools::colors	color = `rviz_visual_tools::colors::RED`,
		double	alpha = `1`,
		double	lifetime = `0`
	)

inline

Visualizes a set of spheres in RViz. The centers of the sphere can be any type which implements the operator().

Parameters

centers	A vector with the centers of the sphere in m
radii	The radii of the spheres in m
color	The color of the path defined in the enum rviz_visual_tools::colors.
alpha	The opacity of the path from 0 to 1
lifetime	The amount of time to be visualized in seconds. 0 stands for infinite time

void arl::viz::RVisualizer::visualizeText	(	const arma::mat &	pose,
		const std::string &	text,
		rviz_visual_tools::colors	color = `rviz_visual_tools::colors::WHITE`,
		rviz_visual_tools::scales	scale = `rviz_visual_tools::scales::REGULAR`,
		double	alpha = `1`,
		double	lifetime = `0`
	)

Here is the call graph for this function:

template<typename T >

void arl::viz::RVisualizer::visualizeVector	(	const T &	start,
		const T &	end,
		double	width = `0.05`,
		rviz_visual_tools::colors	color = `rviz_visual_tools::colors::RED`,
		double	alpha = `1`,
		double	lifetime = `0`
	)

inline

Visualizes a vector/arrow in RViz. Needs two 3D points in space which represent the start and the the end of the vector.

Parameters

start	The start of the vector
end	The end of the vector
width	The width of the vector
color	The color of the path defined in the enum rviz_visual_tools::colors.
alpha	The opacity from 0 to 1
lifetime	The amount of time to be visualized in seconds. 0 stands for infinite time

Member Data Documentation

visualization_msgs::Marker arl::viz::RVisualizer::vector_marker_

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation