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18 #ifndef GAZEBO_RENDERING_JOINTVISUAL_HH_
19 #define GAZEBO_RENDERING_JOINTVISUAL_HH_
23 #include <ignition/math/Pose3.hh>
25 #include "gazebo/msgs/MessageTypes.hh"
50 public:
void Load(ConstJointPtr &_msg);
54 public:
virtual void Fini();
62 public:
void Load(ConstJointPtr &_msg,
63 const ignition::math::Pose3d &_worldPose);
71 public:
ArrowVisualPtr CreateAxis(
const ignition::math::Vector3d &_axis,
72 const bool _useParentFrame,
const msgs::Joint::Type &_type);
75 public:
virtual void SetVisible(
bool _visible,
bool _cascade =
true);
79 public:
void UpdateFromMsg(ConstJointPtr &_msg);
88 const ignition::math::Vector3d &_axis,
const bool _useParentFrame,
89 const msgs::Joint::Type &_type);
virtual ~JointVisual()
Destructor.
virtual void Load()
Load the visual with default parameters.
Forward declarations for the common classes.
Definition: Animation.hh:26
std::shared_ptr< ArrowVisual > ArrowVisualPtr
Definition: RenderTypes.hh:150
JointVisualPtr GetParentAxisVisual() const
Get the JointVisual which is attached to the parent link.
Visualization for joints.
Definition: JointVisual.hh:38
void UpdateFromMsg(ConstJointPtr &_msg)
Update the joint visual based on a message.
JointVisual(const std::string &_name, VisualPtr _vis)
Constructor.
ArrowVisualPtr CreateAxis(const ignition::math::Vector3d &_axis, const bool _useParentFrame, const msgs::Joint::Type &_type)
Create an axis and attach it to the joint visual.
virtual void Fini()
Documentation Inherited.
A renderable object.
Definition: Visual.hh:60
std::shared_ptr< JointVisual > JointVisualPtr
Definition: RenderTypes.hh:142
virtual void SetVisible(bool _visible, bool _cascade=true)
Set whether the visual is visible.
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:114
void UpdateAxis(ArrowVisualPtr _arrowVisual, const ignition::math::Vector3d &_axis, const bool _useParentFrame, const msgs::Joint::Type &_type)
Update an axis' arrow visual.
ArrowVisualPtr GetArrowVisual() const
Get the arrow visual which represents the axis attached to the child link.