The Tesseract Ignition Vizualization class. More...

#include <tesseract_ignition_visualization.h>

Inheritance diagram for tesseract_visualization::TesseractIgnitionVisualization:

Collaboration diagram for tesseract_visualization::TesseractIgnitionVisualization:

[legend]

Public Types
using	Ptr = std::shared_ptr< TesseractIgnitionVisualization >

using	ConstPtr = std::shared_ptr< const TesseractIgnitionVisualization >

Public Types inherited from tesseract_visualization::Visualization
using	Ptr = std::shared_ptr< Visualization >

using	ConstPtr = std::shared_ptr< const Visualization >

Public Member Functions
	TesseractIgnitionVisualization ()

bool	isConnected () const override
	Some plotters may require connecting to external software. More...

void	waitForConnection (long seconds=0) const override
	Wait for connection. More...

void	plotEnvironment (const tesseract_environment::Environment &env, std::string ns="") override
	Plot environment. More...

void	plotEnvironmentState (const tesseract_scene_graph::SceneState &state, std::string ns="") override
	Plot state of the environment. More...

void	plotTrajectory (const tesseract_common::JointTrajectory &traj, const tesseract_scene_graph::StateSolver &state_solver, std::string ns="") override
	Plot a JointTrajectory. More...

void	plotMarker (const Marker &marker, std::string ns="") override
	Plot marker. More...

void	plotMarkers (const std::vector< Marker::Ptr > &markers, std::string ns="") override
	Plot a vector of markers under a given namespace. More...

void	clear (std::string ns="") override
	This is called at the start of the plotting for each iteration to clear previous iteration graphics if necessary. More...

void	waitForInput (std::string message="Hit enter key to continue!") override
	Pause code and wait for enter key in terminal. More...

Public Member Functions inherited from tesseract_visualization::Visualization
	Visualization ()=default

virtual	~Visualization ()=default

	Visualization (const Visualization &)=default

Visualization &	operator= (const Visualization &)=default

	Visualization (Visualization &&)=default

Visualization &	operator= (Visualization &&)=default

virtual bool	isConnected () const =0
	Some plotters may require connecting to external software. More...

virtual void	waitForConnection (long seconds=0) const =0
	Wait for connection. More...

virtual void	plotEnvironment (const tesseract_environment::Environment &env, std::string ns="")=0
	Plot environment. More...

virtual void	plotEnvironmentState (const tesseract_scene_graph::SceneState &state, std::string ns="")=0
	Plot state of the environment. More...

virtual void	plotTrajectory (const tesseract_common::JointTrajectory &traj, const tesseract_scene_graph::StateSolver &state_solver, std::string ns="")=0
	Plot a JointTrajectory. More...

virtual void	plotMarker (const Marker &marker, std::string ns="")=0
	Plot marker. More...

virtual void	plotMarkers (const std::vector< Marker::Ptr > &markers, std::string ns="")=0
	Plot a vector of markers under a given namespace. More...

virtual void	clear (std::string ns="")=0
	This is called at the start of the plotting for each iteration to clear previous iteration graphics if necessary. More...

virtual void	waitForInput (std::string message="Hit enter key to continue!")=0
	Pause code and wait for enter key in terminal. More...

Private Member Functions
void	sendSceneState (const tesseract_scene_graph::SceneState &scene_state)
	Helper function for sending state to visualization tool. More...

Private Attributes
ignition::transport::Node	node_

ignition::transport::Node::Publisher	scene_pub_

ignition::transport::Node::Publisher	pose_pub_

ignition::transport::Node::Publisher	deletion_pub_

EntityManager	entity_manager_

Detailed Description

The Tesseract Ignition Vizualization class.

Member Typedef Documentation

◆ ConstPtr

using tesseract_visualization::TesseractIgnitionVisualization::ConstPtr = std::shared_ptr<const TesseractIgnitionVisualization>

◆ Ptr

using tesseract_visualization::TesseractIgnitionVisualization::Ptr = std::shared_ptr<TesseractIgnitionVisualization>

Constructor & Destructor Documentation

◆ TesseractIgnitionVisualization()

tesseract_visualization::TesseractIgnitionVisualization::TesseractIgnitionVisualization ( )

Member Function Documentation

◆ clear()

void tesseract_visualization::TesseractIgnitionVisualization::clear ( std::string ns = "" )

overridevirtual

This is called at the start of the plotting for each iteration to clear previous iteration graphics if necessary.

Implements tesseract_visualization::Visualization.

◆ isConnected()

bool tesseract_visualization::TesseractIgnitionVisualization::isConnected ( ) const

overridevirtual

Some plotters may require connecting to external software.

Returns: True if connected, otherwise false

Implements tesseract_visualization::Visualization.

◆ plotEnvironment()

void tesseract_visualization::TesseractIgnitionVisualization::plotEnvironment	(	const tesseract_environment::Environment &	env,
		std::string	ns = `""`
	)

overridevirtual

Plot environment.

Parameters

env	The environment.

Implements tesseract_visualization::Visualization.

◆ plotEnvironmentState()

void tesseract_visualization::TesseractIgnitionVisualization::plotEnvironmentState	(	const tesseract_scene_graph::SceneState &	state,
		std::string	ns = `""`
	)

overridevirtual

Plot state of the environment.

Parameters

state The state of the environment.

Implements tesseract_visualization::Visualization.

◆ plotMarker()

void tesseract_visualization::TesseractIgnitionVisualization::plotMarker	(	const Marker &	marker,
		std::string	ns = `""`
	)

overridevirtual

Plot marker.

Parameters

marker	The marker to plot
ns	The namespace to plot the object under

Implements tesseract_visualization::Visualization.

◆ plotMarkers()

void tesseract_visualization::TesseractIgnitionVisualization::plotMarkers	(	const std::vector< Marker::Ptr > &	markers,
		std::string	ns = `""`
	)

overridevirtual

Plot a vector of markers under a given namespace.

Parameters

markers	The markers to plot
ns	The namespace to plot the objects under

Implements tesseract_visualization::Visualization.

◆ plotTrajectory()

void tesseract_visualization::TesseractIgnitionVisualization::plotTrajectory	(	const tesseract_common::JointTrajectory &	traj,
		const tesseract_scene_graph::StateSolver &	state_solver,
		std::string	ns = `""`
	)

overridevirtual

Plot a JointTrajectory.

Parameters

state_solver	The environment
trajectory	JointTrajectory to be plotted

Implements tesseract_visualization::Visualization.

◆ sendSceneState()

void tesseract_visualization::TesseractIgnitionVisualization::sendSceneState ( const tesseract_scene_graph::SceneState & scene_state )

private

Helper function for sending state to visualization tool.

Parameters

scene_state Environment state

◆ waitForConnection()

void tesseract_visualization::TesseractIgnitionVisualization::waitForConnection ( long seconds = 0 ) const

overridevirtual

Wait for connection.

Parameters

seconds The number of seconds to wait before returning, if zero it waits indefinitely

Implements tesseract_visualization::Visualization.

◆ waitForInput()

void tesseract_visualization::TesseractIgnitionVisualization::waitForInput ( std::string message = "Hit enter key to continue!" )

overridevirtual

Pause code and wait for enter key in terminal.

Implements tesseract_visualization::Visualization.

Member Data Documentation

◆ deletion_pub_

ignition::transport::Node::Publisher tesseract_visualization::TesseractIgnitionVisualization::deletion_pub_

private

Deletion publisher

◆ entity_manager_

EntityManager tesseract_visualization::TesseractIgnitionVisualization::entity_manager_

private

◆ node_

ignition::transport::Node tesseract_visualization::TesseractIgnitionVisualization::node_

private

Ignition communication node.

◆ pose_pub_

ignition::transport::Node::Publisher tesseract_visualization::TesseractIgnitionVisualization::pose_pub_

private

Pose publisher

◆ scene_pub_

ignition::transport::Node::Publisher tesseract_visualization::TesseractIgnitionVisualization::scene_pub_

private

Scene publisher

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

tesseract_visualization/include/tesseract_visualization/ignition/tesseract_ignition_visualization.h
tesseract_visualization/src/ignition/tesseract_ignition_visualization.cpp

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ TesseractIgnitionVisualization()

Member Function Documentation

◆ clear()

◆ isConnected()

◆ plotEnvironment()

◆ plotEnvironmentState()

◆ plotMarker()

◆ plotMarkers()

◆ plotTrajectory()

◆ sendSceneState()

◆ waitForConnection()

◆ waitForInput()

Member Data Documentation

◆ deletion_pub_

◆ entity_manager_

◆ node_

◆ pose_pub_

◆ scene_pub_