fog::RVisualizer Class Reference

Visualizes in RViz FOG models. In order to see the models, add in your RViz configuration a PointCloud2 panel with the point cloud topic name and a MarkerArray with the rviz_topic that you initialize the class. More...

#include <fog/rvisualizer.h>

Inheritance diagram for fog::RVisualizer:

Collaboration diagram for fog::RVisualizer:

Public Member Functions
	RVisualizer (const std::string &the_point_cloud_topic, const std::string &rviz_topic, const unsigned int nr_point_clouds=1)
	The default constructor. More...
	~RVisualizer ()
void	visualizeFogObject (const Object &object)
	Visualizes a FOG object. More...
void	visualizeFogSurface (const Surface &surface)
	Visualizes a FOG surface. More...
void	visualizeFogObjectSurfaceCombination (const ObjectSurfaceCombination &combination)
	Visualizes a FOG object-surface combination. More...
void	visualizeInitialGraspState (const InitialGraspState &igs, double length=0.01, double width=0.001)
	Visualizes a FOG IGS. More...
void	visualizeInitialGraspStates (const std::vector< InitialGraspState > &igs)
void	visualizePointCloud (const pcl::PointCloud< pcl::PointXYZ > &point_cloud, unsigned int index=0)
	Visualizes a point cloud. More...

Private Attributes
std::vector< ros::Publisher >	point_cloud_publisher
std::string	point_cloud_topic

Detailed Description

Visualizes in RViz FOG models. In order to see the models, add in your RViz configuration a PointCloud2 panel with the point cloud topic name and a MarkerArray with the rviz_topic that you initialize the class.

Constructor & Destructor Documentation

fog::RVisualizer::RVisualizer	(	const std::string &	the_point_cloud_topic,
		const std::string &	rviz_topic,
		const unsigned int	nr_point_clouds = 1
	)

The default constructor.

Parameters

the_point_cloud_topic	The name of the topic that point cloud will be published.
rviz_topic	The name of the topic for everythin else shown in a MarkerArray panel.

fog::RVisualizer::~RVisualizer

(

)

Member Function Documentation

void fog::RVisualizer::visualizeFogObject

(

const Object &

object

)

Visualizes a FOG object.

Parameters

object

The FOG object.

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void fog::RVisualizer::visualizeFogObjectSurfaceCombination

(

const ObjectSurfaceCombination &

combination

)

Visualizes a FOG object-surface combination.

Parameters

combination

The FOG object-surface combination.

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void fog::RVisualizer::visualizeFogSurface

(

const Surface &

surface

)

Visualizes a FOG surface.

Parameters

surface

The FOG surface.

void fog::RVisualizer::visualizeInitialGraspState	(	const InitialGraspState &	igs,
		double	length = 0.01,
		double	width = 0.001
	)

Visualizes a FOG IGS.

Parameters

igs	The FOG IGS.

void fog::RVisualizer::visualizeInitialGraspStates

(

const std::vector< InitialGraspState > &

igs

)

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void fog::RVisualizer::visualizePointCloud	(	const pcl::PointCloud< pcl::PointXYZ > &	point_cloud,
		unsigned int	index = 0
	)

Visualizes a point cloud.

Parameters

point_cloud

The point cloud.

Member Data Documentation

std::vector<ros::Publisher> fog::RVisualizer::point_cloud_publisher

private

std::string fog::RVisualizer::point_cloud_topic

private