#include <aikido/rviz/InteractiveMarkerViewer.hpp>

Public Member Functions
	InteractiveMarkerViewer (const std::string &topicNamespace, const std::string &frameId, aikido::planner::WorldPtr env=nullptr)
	Creates an InteractiveMarkerViewer that reflects skeletons in a World. More...

virtual	~InteractiveMarkerViewer ()

	InteractiveMarkerViewer (const InteractiveMarkerViewer &)=delete

	InteractiveMarkerViewer (const InteractiveMarkerViewer &&)=delete

InteractiveMarkerViewer &	operator= (const InteractiveMarkerViewer &)=delete

interactive_markers::InteractiveMarkerServer &	marker_server ()

SkeletonMarkerPtr	addSkeletonMarker (const dart::dynamics::SkeletonPtr &skeleton)
	Visualizes a Skeleton. More...

FrameMarkerPtr	addFrameMarker (dart::dynamics::Frame *frame, double length=0.25, double thickness=0.02, double alpha=1.0)
	Visualizes a Frame as a cylinder. More...

TSRMarkerPtr	addTSRMarker (const constraint::dart::TSR &tsr, int nSamples=10, const std::string &basename="")
	Visualizes a TSR. More...

TrajectoryMarkerPtr	addTrajectoryMarker (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)
	Adds trajectory marker to this viewer. More...

void	setAutoUpdate (bool flag)
	Sets viewer auto-updating to on (true) or off. More...

void	update ()
	Updates viewer with Skeletons from the World and existing markers. More...

Protected Member Functions
void	autoUpdate ()
	Thread target for auto-updating the viewer. More...

void	updateSkeletonMarkers ()
	Helper function to update skeleton markers. More...

void	updateFrameMarkers ()
	Helper function to update frame markers. More...

void	updateTrajectoryMarkers ()
	Helper function to update trajectory markers. More...

Protected Attributes
interactive_markers::InteractiveMarkerServer	mMarkerServer
	Interactive Marker Server. More...

std::map< dart::dynamics::SkeletonPtr, SkeletonMarkerPtr >	mSkeletonMarkers
	Map of Skeletons to SkeletonMarkers. More...

std::set< FrameMarkerPtr >	mFrameMarkers
	Set of frame markers. More...

std::set< TrajectoryMarkerPtr >	mTrajectoryMarkers
	Set of trajectory markers. More...

dart::common::NameManager< trajectory::ConstTrajectoryPtr >	mTrajectoryNameManager
	NameManager for name uniqueness of trajectories in the same InteractiveMarkerServer. More...

std::atomic_bool	mRunning
	Check if the update thread is running. More...

std::atomic_bool	mUpdating
	Check if the updates are happening. More...

std::string	mFrameId
	Frame ID. More...

aikido::planner::WorldPtr	mWorld
	World that automatically updates the viewer. More...

std::mutex	mMutex
	Mutex. More...

std::thread	mThread
	Thread running the updates. More...

Constructor & Destructor Documentation

◆ InteractiveMarkerViewer() [1/3]

aikido::rviz::InteractiveMarkerViewer::InteractiveMarkerViewer	(	const std::string &	topicNamespace,
		const std::string &	frameId,
		aikido::planner::WorldPtr	env = `nullptr`
	)

Creates an InteractiveMarkerViewer that reflects skeletons in a World.

Parameters

[in]	topicNamespace	ROS topic to publish marker updates to
[in]	frameId	Base frame name
[in]	env	World to update the viewer with. Default is nullptr if there is no underlying world attached to the markers. If there is an associated world, the viewer also updates skeletons the world contains.

◆ ~InteractiveMarkerViewer()

virtual aikido::rviz::InteractiveMarkerViewer::~InteractiveMarkerViewer ( )

virtual

◆ InteractiveMarkerViewer() [2/3]

aikido::rviz::InteractiveMarkerViewer::InteractiveMarkerViewer ( const InteractiveMarkerViewer & )

delete

◆ InteractiveMarkerViewer() [3/3]

aikido::rviz::InteractiveMarkerViewer::InteractiveMarkerViewer ( const InteractiveMarkerViewer && )

delete

Member Function Documentation

◆ addFrameMarker()

FrameMarkerPtr aikido::rviz::InteractiveMarkerViewer::addFrameMarker	(	dart::dynamics::Frame *	frame,
		double	length = `0.25`,
		double	thickness = `0.02`,
		double	alpha = `1.0`
	)

Visualizes a Frame as a cylinder.

Parameters

[in]	frame	Target DART frame.
[in]	length	Length of the cylindrical frame (along z-axis).
[in]	thickness	Radius (thickness in x and y axes) of cylinder.
[in]	alpha	Opacity.

Returns: Frame marker added to this viewer.

◆ addSkeletonMarker()

SkeletonMarkerPtr aikido::rviz::InteractiveMarkerViewer::addSkeletonMarker ( const dart::dynamics::SkeletonPtr & skeleton )

Visualizes a Skeleton.

Parameters

skeleton Skeleton to add to the viewer

Returns: Skeleton marker added to the viewer.

◆ addTrajectoryMarker()

TrajectoryMarkerPtr aikido::rviz::InteractiveMarkerViewer::addTrajectoryMarker	(	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`
	)

Adds trajectory marker to this viewer.

Parameters

[in]	trajectory	C-space (or joint-space) trajectory.
[in]	skeleton	Target DART meta skeleton that the C-space trajectory will be applied to compute the visualizing task-space trajectory.
[in]	frame	Target DART frame where the trajectory of its 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.

Returns: Trajectory marker added to this viewer.

◆ addTSRMarker()

TSRMarkerPtr aikido::rviz::InteractiveMarkerViewer::addTSRMarker	(	const constraint::dart::TSR &	tsr,
		int	nSamples = `10`,
		const std::string &	basename = `""`
	)

Visualizes a TSR.

Parameters

tsr	TSR constraint
nSamples	Max number of samples to be used in visualization
basename	Basename for markers

Returns: TSR marker that contains sampled frames of TSR.

◆ autoUpdate()

void aikido::rviz::InteractiveMarkerViewer::autoUpdate ( )

protected

Thread target for auto-updating the viewer.

◆ marker_server()

interactive_markers::InteractiveMarkerServer& aikido::rviz::InteractiveMarkerViewer::marker_server ( )

◆ operator=()

InteractiveMarkerViewer& aikido::rviz::InteractiveMarkerViewer::operator= ( const InteractiveMarkerViewer & )

delete

◆ setAutoUpdate()

void aikido::rviz::InteractiveMarkerViewer::setAutoUpdate ( bool flag )

Sets viewer auto-updating to on (true) or off.

Parameters

[in] flag Whether to auto-update the viewer.

◆ update()

void aikido::rviz::InteractiveMarkerViewer::update ( )

Updates viewer with Skeletons from the World and existing markers.

◆ updateFrameMarkers()

void aikido::rviz::InteractiveMarkerViewer::updateFrameMarkers ( )

protected

Helper function to update frame markers.

◆ updateSkeletonMarkers()

void aikido::rviz::InteractiveMarkerViewer::updateSkeletonMarkers ( )

protected

Helper function to update skeleton markers.

◆ updateTrajectoryMarkers()

void aikido::rviz::InteractiveMarkerViewer::updateTrajectoryMarkers ( )

protected

Helper function to update trajectory markers.

Member Data Documentation

◆ mFrameId

std::string aikido::rviz::InteractiveMarkerViewer::mFrameId

protected

Frame ID.

◆ mFrameMarkers

std::set<FrameMarkerPtr> aikido::rviz::InteractiveMarkerViewer::mFrameMarkers

protected

Set of frame markers.

◆ mMarkerServer

interactive_markers::InteractiveMarkerServer aikido::rviz::InteractiveMarkerViewer::mMarkerServer

protected

Interactive Marker Server.

◆ mMutex

std::mutex aikido::rviz::InteractiveMarkerViewer::mMutex

mutableprotected

Mutex.

◆ mRunning

std::atomic_bool aikido::rviz::InteractiveMarkerViewer::mRunning

protected

Check if the update thread is running.

◆ mSkeletonMarkers

std::map<dart::dynamics::SkeletonPtr, SkeletonMarkerPtr> aikido::rviz::InteractiveMarkerViewer::mSkeletonMarkers

protected

Map of Skeletons to SkeletonMarkers.

◆ mThread

std::thread aikido::rviz::InteractiveMarkerViewer::mThread

protected

Thread running the updates.

◆ mTrajectoryMarkers

std::set<TrajectoryMarkerPtr> aikido::rviz::InteractiveMarkerViewer::mTrajectoryMarkers

protected

Set of trajectory markers.

◆ mTrajectoryNameManager

dart::common::NameManager<trajectory::ConstTrajectoryPtr> aikido::rviz::InteractiveMarkerViewer::mTrajectoryNameManager

protected

NameManager for name uniqueness of trajectories in the same InteractiveMarkerServer.

◆ mUpdating

std::atomic_bool aikido::rviz::InteractiveMarkerViewer::mUpdating

protected

Check if the updates are happening.

◆ mWorld

aikido::planner::WorldPtr aikido::rviz::InteractiveMarkerViewer::mWorld

protected

World that automatically updates the viewer.

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ InteractiveMarkerViewer() [1/3]

◆ ~InteractiveMarkerViewer()

◆ InteractiveMarkerViewer() [2/3]

◆ InteractiveMarkerViewer() [3/3]

Member Function Documentation

◆ addFrameMarker()

◆ addSkeletonMarker()

◆ addTrajectoryMarker()

◆ addTSRMarker()

◆ autoUpdate()

◆ marker_server()

◆ operator=()

◆ setAutoUpdate()

◆ update()

◆ updateFrameMarkers()

◆ updateSkeletonMarkers()

◆ updateTrajectoryMarkers()

Member Data Documentation

◆ mFrameId

◆ mFrameMarkers

◆ mMarkerServer

◆ mMutex

◆ mRunning

◆ mSkeletonMarkers

◆ mThread

◆ mTrajectoryMarkers

◆ mTrajectoryNameManager

◆ mUpdating

◆ mWorld