A wrapper class of RViz InteractiveMarker for visualizing AIKIDO trajectory in RViz. More...

#include <aikido/rviz/TrajectoryMarker.hpp>

Public Member Functions
	TrajectoryMarker (interactive_markers::InteractiveMarkerServer *markerServer, const std::string &frameId, const std::string &markerName, trajectory::ConstTrajectoryPtr trajectory, dart::dynamics::MetaSkeletonPtr skeleton, const dart::dynamics::Frame &frame, const Eigen::Vector4d &rgba=Eigen::Vector4d::Constant(0.75), double thickness=0.01, std::size_t numLineSegments=16u)
	Constructor. More...

	~TrajectoryMarker ()
	Destructor. More...

void	setTrajectory (trajectory::ConstTrajectoryPtr trajectory)
	Sets or updates trajectory to visualize. More...

trajectory::ConstTrajectoryPtr	getTrajectory () const
	Returns trajectory associated with this marker. More...

void	setColor (const Eigen::Vector3d &rgb)
	Sets or updates color (RGB) of visualized trajectory. More...

Eigen::Vector3d	getColor () const
	Returns color (RGB) of visualized trajectory. More...

void	setAlpha (double alpha)
	Sets or updates alpha of visualized trajectory. More...

double	getAlpha () const
	Returns alpha of visualized trajectory. More...

void	setRGBA (const Eigen::Vector4d &rgb)
	Sets or updates RGBA of visualized trajectory. More...

Eigen::Vector4d	getRBGA () const
	Returns RGBA of visualized trajectory. More...

void	setThickness (double thickness)
	Sets or updates thickness of visualized trajectory. More...

double	getThickness () const
	Returns thickness of visualized trajectory. More...

void	setNumLineSegments (std::size_t numLineSegments)
	Sets or updates number of line segments of the visualizing trajectory. More...

std::size_t	getNumLineSegments () const
	Returns number of line segments of the visualizing trajectory. More...

void	update ()
	Updates this marker. More...

Private Member Functions
void	updatePoints ()
	Updates trajectory points based on trajectory and number of line-segments. More...

visualization_msgs::Marker &	getMarker ()
	Returns marker. More...

const visualization_msgs::Marker &	getMarker () const
	Returns const marker. More...

Private Attributes
interactive_markers::InteractiveMarkerServer *	mMarkerServer
	RViz marker server. More...

visualization_msgs::InteractiveMarker	mInteractiveMarker
	RViz interactive marker. More...

std::string	mFrameId
	Frame name of RViz interactive marker. More...

trajectory::ConstTrajectoryPtr	mTrajectory
	C-space (or joint-space) trajectory. More...

std::size_t	mNumLineSegments
	Number of line segments of the discretized task-space trajectory. More...

dart::dynamics::MetaSkeletonPtr	mSkeleton
	Target DART meta skeleton that the C-space trajectory will be applied to compute the visualizing task-space trajectory. More...

const dart::dynamics::Frame &	mFrame
	Target DART frame where the trajectory of its origin will be visualized. More...

bool	mNeedUpdate
	Whether the associated RViz maker needs to be updated. More...

bool	mNeedPointsUpdate
	Whether the trajectory points need to be updated. More...

Detailed Description

A wrapper class of RViz InteractiveMarker for visualizing AIKIDO trajectory in RViz.

Constructor & Destructor Documentation

◆ TrajectoryMarker()

aikido::rviz::TrajectoryMarker::TrajectoryMarker	(	interactive_markers::InteractiveMarkerServer *	markerServer,
		const std::string &	frameId,
		const std::string &	markerName,
		trajectory::ConstTrajectoryPtr	trajectory,
		dart::dynamics::MetaSkeletonPtr	skeleton,
		const dart::dynamics::Frame &	frame,
		const Eigen::Vector4d &	rgba = `Eigen::Vector4d::Constant(0.75)`,
		double	thickness = `0.01`,
		std::size_t	numLineSegments = `16u`
	)

Constructor.

Parameters

[in]	markerServer	RViz marker server.
[in]	frameId	RViz frame ID.
[in]	markerName	Name of the RViz InteractiveMarker associated with this TrajectoryMarker. The name must be unique in the same InteractiveMarkerServer. AIKIDO InteractiveMarkerViewer uses a name manager for the name uniqueness.
[in]	trajectory	C-space (or joint-space) trajectory.
[in]	skeleton	DART meta skeleton for visualizing the trajectory in task space.
[in]	frame	DART frame for visualizing the trajectory in task space. The trajectory of the origin will be visualized.
[in]	rgba	Color and alpha of the visualized trajectory. Default is [RGBA: 0.75, 0.75, 0.75, 0.75].
[in]	thickness	Thickness of the visualized trajectory. Default is 0.01.
[in]	numLineSegments	Number of line segments in the visualized trajectory. Default is 16.

◆ ~TrajectoryMarker()

aikido::rviz::TrajectoryMarker::~TrajectoryMarker ( )

Destructor.

Member Function Documentation

◆ getAlpha()

double aikido::rviz::TrajectoryMarker::getAlpha ( ) const

Returns alpha of visualized trajectory.

◆ getColor()

Eigen::Vector3d aikido::rviz::TrajectoryMarker::getColor ( ) const

Returns color (RGB) of visualized trajectory.

◆ getMarker() [1/2]

visualization_msgs::Marker& aikido::rviz::TrajectoryMarker::getMarker ( )

private

Returns marker.

◆ getMarker() [2/2]

const visualization_msgs::Marker& aikido::rviz::TrajectoryMarker::getMarker ( ) const

private

Returns const marker.

◆ getNumLineSegments()

std::size_t aikido::rviz::TrajectoryMarker::getNumLineSegments ( ) const

Returns number of line segments of the visualizing trajectory.

◆ getRBGA()

Eigen::Vector4d aikido::rviz::TrajectoryMarker::getRBGA ( ) const

Returns RGBA of visualized trajectory.

◆ getThickness()

double aikido::rviz::TrajectoryMarker::getThickness ( ) const

Returns thickness of visualized trajectory.

◆ getTrajectory()

trajectory::ConstTrajectoryPtr aikido::rviz::TrajectoryMarker::getTrajectory ( ) const

Returns trajectory associated with this marker.

◆ setAlpha()

void aikido::rviz::TrajectoryMarker::setAlpha ( double alpha )

Sets or updates alpha of visualized trajectory.

◆ setColor()

void aikido::rviz::TrajectoryMarker::setColor ( const Eigen::Vector3d & rgb )

Sets or updates color (RGB) of visualized trajectory.

◆ setNumLineSegments()

void aikido::rviz::TrajectoryMarker::setNumLineSegments ( std::size_t numLineSegments )

Sets or updates number of line segments of the visualizing trajectory.

◆ setRGBA()

void aikido::rviz::TrajectoryMarker::setRGBA ( const Eigen::Vector4d & rgb )

Sets or updates RGBA of visualized trajectory.

◆ setThickness()

void aikido::rviz::TrajectoryMarker::setThickness ( double thickness )

Sets or updates thickness of visualized trajectory.

◆ setTrajectory()

void aikido::rviz::TrajectoryMarker::setTrajectory ( trajectory::ConstTrajectoryPtr trajectory )

Sets or updates trajectory to visualize.

Parameters

[in] trajectory C-space (or joint-space) trajectory. The statespace of the trajectory should be MetaSkeletonStateSpace. Otherwise, throws invalid_argument exception. Passing in nullptr will clear the current trajectory.

◆ update()

void aikido::rviz::TrajectoryMarker::update ( )

Updates this marker.

This function should be called after the properties are changed (e.g., trajectory, color, thickness, number of line-segments) so that RViz reflects the changes accordingly.

◆ updatePoints()

void aikido::rviz::TrajectoryMarker::updatePoints ( )

private

Updates trajectory points based on trajectory and number of line-segments.

This function is called by update().

Member Data Documentation

◆ mFrame

const dart::dynamics::Frame& aikido::rviz::TrajectoryMarker::mFrame

private

Target DART frame where the trajectory of its origin will be visualized.

◆ mFrameId

std::string aikido::rviz::TrajectoryMarker::mFrameId

private

Frame name of RViz interactive marker.

◆ mInteractiveMarker

visualization_msgs::InteractiveMarker aikido::rviz::TrajectoryMarker::mInteractiveMarker

private

RViz interactive marker.

◆ mMarkerServer

interactive_markers::InteractiveMarkerServer* aikido::rviz::TrajectoryMarker::mMarkerServer

private

RViz marker server.

◆ mNeedPointsUpdate

bool aikido::rviz::TrajectoryMarker::mNeedPointsUpdate

private

Whether the trajectory points need to be updated.

◆ mNeedUpdate

bool aikido::rviz::TrajectoryMarker::mNeedUpdate

private

Whether the associated RViz maker needs to be updated.

◆ mNumLineSegments

std::size_t aikido::rviz::TrajectoryMarker::mNumLineSegments

private

Number of line segments of the discretized task-space trajectory.

◆ mSkeleton

dart::dynamics::MetaSkeletonPtr aikido::rviz::TrajectoryMarker::mSkeleton

private

Target DART meta skeleton that the C-space trajectory will be applied to compute the visualizing task-space trajectory.

◆ mTrajectory

trajectory::ConstTrajectoryPtr aikido::rviz::TrajectoryMarker::mTrajectory

private

C-space (or joint-space) trajectory.

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TrajectoryMarker()

◆ ~TrajectoryMarker()

Member Function Documentation

◆ getAlpha()

◆ getColor()

◆ getMarker() [1/2]

◆ getMarker() [2/2]

◆ getNumLineSegments()

◆ getRBGA()

◆ getThickness()

◆ getTrajectory()

◆ setAlpha()

◆ setColor()

◆ setNumLineSegments()

◆ setRGBA()

◆ setThickness()

◆ setTrajectory()

◆ update()

◆ updatePoints()

Member Data Documentation

◆ mFrame

◆ mFrameId

◆ mInteractiveMarker

◆ mMarkerServer

◆ mNeedPointsUpdate

◆ mNeedUpdate

◆ mNumLineSegments

◆ mSkeleton

◆ mTrajectory