Represents a joint visual. More...

#include <JointVisual.hh>

Public Member Functions
virtual	~JointVisual ()
	Destructor. More...

virtual ArrowVisualPtr	ArrowVisual () const =0
	Get the arrow visual which represents the axis attached to the child. More...

virtual gz::math::Vector3d	Axis () const =0
	Get axis vector. More...

virtual gz::math::Vector3d	ParentAxis () const =0
	Get parent axis vector. More...

virtual JointVisualPtr	ParentAxisVisual () const =0
	Get the JointVisual which is attached to the parent. More...

virtual void	SetAxis (const gz::math::Vector3d &_axis, bool _useParentFrame=false)=0
	Create an axis and attach it to the joint visual. More...

virtual void	SetParentAxis (const gz::math::Vector3d &_axis, const std::string &_parentName, bool _useParentFrame=false)=0
	Create a parent axis for hinge2 and universal joint types and attach it to the joint visual. More...

virtual void	SetType (const JointVisualType _type)=0
	Set type for joint visual. More...

virtual JointVisualType	Type () const =0
	Get joint visual type. More...

virtual bool	UpdateAxis (const gz::math::Vector3d &_axis, bool _useParentFrame=false)=0
	Update an axis' arrow visual. More...

virtual bool	UpdateParentAxis (const gz::math::Vector3d &_axis, bool _useParentFrame=false)=0
	Update the parent axis' arrow visual if it exists. More...

Public Member Functions inherited from Visual
virtual	~Visual ()
	Destructor. More...

virtual void	AddGeometry (GeometryPtr _geometry)=0
	Add the given geometry to this visual. If the given node is already attached, no work will be done. More...

virtual void	AddVisibilityFlags (uint32_t _flags)=0
	Add visibility flags. More...

virtual gz::math::AxisAlignedBox	BoundingBox () const =0
	Get the bounding box in world frame coordinates. More...

virtual VisualPtr	Clone (const std::string &_name, NodePtr _newParent) const =0
	Clone the visual (and its children) with a new name. More...

virtual GeometryPtr	GeometryByIndex (unsigned int _index) const =0
	Get geometry at given index. If no geometry exists at given index, NULL will be returned. More...

virtual unsigned int	GeometryCount () const =0
	Get the number of geometries attached to this visual. More...

virtual bool	HasGeometry (ConstGeometryPtr _geometry) const =0
	Determine if given geometry is attached to this visual. More...

virtual gz::math::AxisAlignedBox	LocalBoundingBox () const =0
	Get the local bounding box of the visual. More...

virtual MaterialPtr	Material () const =0
	Get the material assigned to attached visuals and geometries. More...

virtual void	RemoveGeometries ()=0
	Remove all attached geometries from this visual. More...

virtual GeometryPtr	RemoveGeometry (GeometryPtr _geometry)=0
	Remove the given geometry from this visual. If the given node is not a child of this visual, no work will be done. More...

virtual GeometryPtr	RemoveGeometryByIndex (unsigned int _index)=0
	Remove the geometry at the given index from this visual. If the specified node is not attached this visual, no work will be done. More...

virtual void	RemoveVisibilityFlags (uint32_t _flags)=0
	Remove visibility flags. More...

virtual void	SetChildMaterial (MaterialPtr _material, bool _unique=true)=0
	Set the material for all attached visuals only. More...

virtual void	SetGeometryMaterial (MaterialPtr _material, bool _unique=true)=0
	Set the material for all attached geometries only. More...

virtual void	SetMaterial (const std::string &_name, bool _unique=true)=0
	Set the material for all attached visuals and geometries. The specified material will be retrieved from Scene::Material using the given material name. If no material is registered with the given name, no work will be done. More...

virtual void	SetMaterial (MaterialPtr _material, bool _unique=true)=0
	Set the material for all attached visuals and geometries. More...

virtual void	SetStatic (bool _static)=0
	Tells Render Engine this Visual will be static (i.e. won't move, rotate or scale) You can still move, rotate or scale the Visual; however doing so has a performance impact. How much of an impact will depend on the rendering backend being used. More...

virtual void	SetVisibilityFlags (uint32_t _flags)=0
	Set visibility flags. More...

virtual void	SetVisible (bool _visible)=0
	Specify if this visual is visible. More...

virtual void	SetWireframe (bool _show)=0
	Enable or disable wireframe. More...

virtual bool	Static () const =0
	Get whether the visual is static. More...

virtual uint32_t	VisibilityFlags () const =0
	Get visibility flags. More...

virtual bool	Wireframe () const =0
	Get whether wireframe is enabled for this visual. More...

Public Member Functions inherited from Node
virtual	~Node ()
	Destructor. More...

virtual void	AddChild (NodePtr _child)=0
	Add the given node to this node. If the given node is already a child, no work will be done. More...

virtual NodePtr	ChildById (unsigned int _id) const =0
	Get node with given ID. If no child exists with given ID, NULL will be returned. More...

virtual NodePtr	ChildByIndex (unsigned int _index) const =0
	Get node at given index. If no child exists at given index, NULL will be returned. More...

virtual NodePtr	ChildByName (const std::string &_name) const =0
	Get node with given name. If no child exists with given name, NULL will be returned. More...

virtual unsigned int	ChildCount () const =0
	Get number of child nodes. More...

virtual bool	HasChild (ConstNodePtr _child) const =0
	Determine if given node is an attached child. More...

virtual bool	HasChildId (unsigned int _id) const =0
	Determine if node with given ID is an attached child. More...

virtual bool	HasChildName (const std::string &_name) const =0
	Determine if node with given name is an attached child. More...

virtual bool	HasParent () const =0
	Determine if this Node is attached to another Node. More...

virtual bool	HasUserData (const std::string &_key) const =0
	Check if node has custom data. More...

virtual bool	InheritScale () const =0
	Determine if this node inherits scale from this parent. More...

virtual math::Pose3d	InitialLocalPose () const =0
	Get the initial local pose. More...

virtual math::Pose3d	LocalPose () const =0
	Get the local pose. More...

virtual math::Vector3d	LocalPosition () const =0
	Get the local position. More...

virtual math::Quaterniond	LocalRotation () const =0
	Get the local rotation. More...

virtual math::Vector3d	LocalScale () const =0
	Get the local scale. More...

virtual math::Vector3d	Origin () const =0
	Get position of origin. More...

virtual NodePtr	Parent () const =0
	Get the parent Node. More...

virtual NodePtr	RemoveChild (NodePtr _child)=0
	Remove (detach) the given node from this node. If the given node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildById (unsigned int _id)=0
	Remove (detach) the node with the given ID from this node. If the specified node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildByIndex (unsigned int _index)=0
	Remove (detach) the node at the given index from this node. If the specified node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildByName (const std::string &_name)=0
	Remove (detach) the node with the given name from this node. If the specified node is not a child of this node, no work will be done. More...

virtual void	RemoveChildren ()=0
	Remove all child nodes from this node This detaches all the child nodes but does not destroy them. More...

virtual void	RemoveParent ()=0
	Detach this Node from its parent. If this Node does not have a parent, no work will be done. More...

virtual void	Scale (const math::Vector3d &_scale)=0
	Scale the current scale by the given scalars. More...

virtual void	Scale (double _scale)=0
	Scale the current scale by the given scalar. The given scalar will be assigned to the x, y, and z coordinates. More...

virtual void	Scale (double _x, double _y, double _z)=0
	Scale the current scale by the given scalars. More...

virtual void	SetInheritScale (bool _inherit)=0
	Specify if this node inherits scale from its parent. More...

virtual void	SetLocalPose (const math::Pose3d &_pose)=0
	Set the local pose. More...

virtual void	SetLocalPosition (const math::Vector3d &_position)=0
	Set the local position. More...

virtual void	SetLocalPosition (double _x, double _y, double _z)=0
	Set the local position. More...

virtual void	SetLocalRotation (const math::Quaterniond &_rotation)=0
	Set the local rotation. More...

virtual void	SetLocalRotation (double _r, double _p, double _y)=0
	Set the local rotation. More...

virtual void	SetLocalRotation (double _w, double _x, double _y, double _z)=0
	Set the local rotation. More...

virtual void	SetLocalScale (const math::Vector3d &_scale)=0
	Set the local scale. More...

virtual void	SetLocalScale (double _scale)=0
	Set the local scale. The given scale will be assigned to the x, y, and z coordinates. More...

virtual void	SetLocalScale (double _x, double _y, double _z)=0
	Set the local scale. More...

virtual void	SetOrigin (const math::Vector3d &_origin)=0
	Set position of origin. The position should be relative to the original origin of the geometry. More...

virtual void	SetOrigin (double _x, double _y, double _z)=0
	Set position of origin. The position should be relative to the original origin of the geometry. More...

virtual void	SetUserData (const std::string &_key, Variant _value)=0
	Store any custom data associated with this node. More...

virtual void	SetWorldPose (const math::Pose3d &_pose)=0
	Set the world pose. More...

virtual void	SetWorldPosition (const math::Vector3d &_position)=0
	Set the world position. More...

virtual void	SetWorldPosition (double _x, double _y, double _z)=0
	Set the world position. More...

virtual void	SetWorldRotation (const math::Quaterniond &_rotation)=0
	Set the world rotation. More...

virtual void	SetWorldRotation (double _r, double _p, double _y)=0
	Set the world rotation. More...

virtual void	SetWorldRotation (double _w, double _x, double _y, double _z)=0
	Set the world rotation. More...

virtual void	SetWorldScale (const math::Vector3d &_scale)=0
	Set the world scale. More...

virtual void	SetWorldScale (double _scale)=0
	Set the world scale. The given scale will be assigned to the x, y, and z coordinates. More...

virtual void	SetWorldScale (double _x, double _y, double _z)=0
	Set the world scale. More...

virtual Variant	UserData (const std::string &_key) const =0
	Get custom data stored in this node. More...

virtual math::Pose3d	WorldPose () const =0
	Get the world pose. More...

virtual math::Vector3d	WorldPosition () const =0
	Get the world position. More...

virtual math::Quaterniond	WorldRotation () const =0
	Get the world rotation. More...

virtual math::Vector3d	WorldScale () const =0
	Get the world scale. More...

virtual math::Pose3d	WorldToLocal (const math::Pose3d &_pose) const =0
	Convert given world pose to local pose. More...

Public Member Functions inherited from Object
virtual	~Object ()
	Destructor. More...

virtual void	Destroy ()=0
	Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior. More...

virtual unsigned int	Id () const =0
	Get the object ID. This ID will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...

virtual std::string	Name () const =0
	Get the object name. This name will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...

virtual void	PostRender ()=0
	Post process this object and any of its children after rendering. More...

virtual void	PreRender ()=0
	Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender. More...

virtual ScenePtr	Scene () const =0
	Get the Scene that created this object. More...

Detailed Description

Represents a joint visual.

gz/rendering/JointVisual.hh

Constructor & Destructor Documentation

◆ ~JointVisual()

virtual ~JointVisual ( )

virtual

Destructor.

Member Function Documentation

◆ ArrowVisual()

virtual ArrowVisualPtr ArrowVisual ( ) const

pure virtual

Get the arrow visual which represents the axis attached to the child.

Returns: Arrow visual.

Implemented in BaseJointVisual< T >, BaseJointVisual< OgreVisual >, and BaseJointVisual< Ogre2Visual >.

◆ Axis()

virtual gz::math::Vector3d Axis ( ) const

pure virtual

Get axis vector.

Returns: The axis vector.

Implemented in BaseJointVisual< T >, BaseJointVisual< OgreVisual >, and BaseJointVisual< Ogre2Visual >.

◆ ParentAxis()

virtual gz::math::Vector3d ParentAxis ( ) const

pure virtual

Get parent axis vector.

Returns: The parent axis vector.

Implemented in BaseJointVisual< T >, BaseJointVisual< OgreVisual >, and BaseJointVisual< Ogre2Visual >.

◆ ParentAxisVisual()

virtual JointVisualPtr ParentAxisVisual ( ) const

pure virtual

Get the JointVisual which is attached to the parent.

Returns: Parent axis visual.

Implemented in BaseJointVisual< T >, BaseJointVisual< OgreVisual >, and BaseJointVisual< Ogre2Visual >.

◆ SetAxis()

virtual void SetAxis	(	const gz::math::Vector3d &	_axis,
		bool	_useParentFrame = `false`
	)

pure virtual

Create an axis and attach it to the joint visual.

Parameters

[in]	_axis	Axis vector.
[in]	_useParentFrame	True if axis vector is expressed in parent frame.

Implemented in BaseJointVisual< T >, BaseJointVisual< OgreVisual >, and BaseJointVisual< Ogre2Visual >.

◆ SetParentAxis()

virtual void SetParentAxis	(	const gz::math::Vector3d &	_axis,
		const std::string &	_parentName,
		bool	_useParentFrame = `false`
	)

pure virtual

Create a parent axis for hinge2 and universal joint types and attach it to the joint visual.

Parameters

[in]	_axis	Axis vector.
[in]	_parentName	Joint parent name.
[in]	_useParentFrame	True if axis vector is expressed in parent frame.

Implemented in BaseJointVisual< T >, BaseJointVisual< OgreVisual >, and BaseJointVisual< Ogre2Visual >.

◆ SetType()

virtual void SetType ( const JointVisualType _type )

pure virtual

Set type for joint visual.

Parameters

[in] _type The type of visualisation for joint.

Implemented in BaseJointVisual< T >, BaseJointVisual< OgreVisual >, and BaseJointVisual< Ogre2Visual >.

◆ Type()

virtual JointVisualType Type ( ) const

pure virtual

Get joint visual type.

Returns: The joint visual type.

Implemented in BaseJointVisual< T >, BaseJointVisual< OgreVisual >, and BaseJointVisual< Ogre2Visual >.

◆ UpdateAxis()

virtual bool UpdateAxis	(	const gz::math::Vector3d &	_axis,
		bool	_useParentFrame = `false`
	)

pure virtual

Update an axis' arrow visual.

Parameters

[in]	_axis	Axis vector.
[in]	_useParentFrame	True if axis vector is expressed in parent frame.

Returns: True if axis was updated else false.

Implemented in BaseJointVisual< T >, BaseJointVisual< OgreVisual >, and BaseJointVisual< Ogre2Visual >.

◆ UpdateParentAxis()

virtual bool UpdateParentAxis	(	const gz::math::Vector3d &	_axis,
		bool	_useParentFrame = `false`
	)

pure virtual

Update the parent axis' arrow visual if it exists.

Parameters

[in]	_axis	Axis vector.
[in]	_useParentFrame	True if axis vector is expressed in parent frame.

Returns: True if parent axis was updated else false.

Implemented in BaseJointVisual< T >, BaseJointVisual< OgreVisual >, and BaseJointVisual< Ogre2Visual >.

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

JointVisual.hh

Gazebo Rendering

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~JointVisual()

Member Function Documentation

◆ ArrowVisual()

◆ Axis()

◆ ParentAxis()

◆ ParentAxisVisual()

◆ SetAxis()

◆ SetParentAxis()

◆ SetType()

◆ Type()

◆ UpdateAxis()

◆ UpdateParentAxis()