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margait_contrib::RobotModelVis Class Reference

Encapsulates a visualisation of the state of a RobotModel object. More...

#include <RobotModelVis.h>

Inherits MarkerManager.

Public Types

enum  JointsEnum {
  JNT_LSHOULDER, JNT_LELBOW, JNT_RSHOULDER, JNT_RELBOW,
  JNT_LHIP, JNT_LKNEE, JNT_LANKLE, JNT_RHIP,
  JNT_RKNEE, JNT_RANKLE, JNT_COUNT
}
 
enum  LinesEnum {
  LIN_TRUNK_A, LIN_TRUNK_B, LIN_NECK_A, LIN_NECK_B,
  LIN_SHOULDER_A, LIN_SHOULDER_B, LIN_LUARM_A, LIN_LUARM_B,
  LIN_LLARM_A, LIN_LLARM_B, LIN_RUARM_A, LIN_RUARM_B,
  LIN_RLARM_A, LIN_RLARM_B, LIN_HIP_A, LIN_HIP_B,
  LIN_LTHIGH_A, LIN_LTHIGH_B, LIN_RTHIGH_A, LIN_RTHIGH_B,
  LIN_LSHANK_A, LIN_LSHANK_B, LIN_RSHANK_A, LIN_RSHANK_B,
  LIN_LFOOTX_A, LIN_LFOOTX_B, LIN_LFOOTY_A, LIN_LFOOTY_B,
  LIN_LFOOTZ_A, LIN_LFOOTZ_B, LIN_RFOOTX_A, LIN_RFOOTX_B,
  LIN_RFOOTY_A, LIN_RFOOTY_B, LIN_RFOOTZ_A, LIN_RFOOTZ_B,
  LIN_SUPP_F_A, LIN_SUPP_F_B, LIN_SUPP_R_A, LIN_SUPP_R_B,
  LIN_SUPP_B_A, LIN_SUPP_B_B, LIN_SUPP_L_A, LIN_SUPP_L_B,
  LIN_SUPN_F_A, LIN_SUPN_F_B, LIN_SUPN_R_A, LIN_SUPN_R_B,
  LIN_SUPN_B_A, LIN_SUPN_B_B, LIN_SUPN_L_A, LIN_SUPN_L_B,
  LIN_COUNT
}
 
enum  FSLinesEnum {
  FIN_LFOOTSTEP_F_A, FIN_LFOOTSTEP_F_B, FIN_LFOOTSTEP_R_A, FIN_LFOOTSTEP_R_B,
  FIN_LFOOTSTEP_B_A, FIN_LFOOTSTEP_B_B, FIN_LFOOTSTEP_L_A, FIN_LFOOTSTEP_L_B,
  FIN_LFOOTSTEP_X_A, FIN_LFOOTSTEP_X_B, FIN_LFOOTSTEP_Y_A, FIN_LFOOTSTEP_Y_B,
  FIN_RFOOTSTEP_F_A, FIN_RFOOTSTEP_F_B, FIN_RFOOTSTEP_R_A, FIN_RFOOTSTEP_R_B,
  FIN_RFOOTSTEP_B_A, FIN_RFOOTSTEP_B_B, FIN_RFOOTSTEP_L_A, FIN_RFOOTSTEP_L_B,
  FIN_RFOOTSTEP_X_A, FIN_RFOOTSTEP_X_B, FIN_RFOOTSTEP_Y_A, FIN_RFOOTSTEP_Y_B,
  FIN_COUNT
}
 

Public Member Functions

 RobotModelVis (const RobotModel *model, const std::string &frame)
 
void init ()
 
void setVisOffset (double x, double y, double z)
 
void updateMarkers ()
 

Public Attributes

const RobotModel * model
 
const std::string frame
 

Detailed Description

Encapsulates a visualisation of the state of a RobotModel object.

The visualisation is based on ROS visualisation markers.

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