Base implementation of a joint visual. More...

#include <BaseJointVisual.hh>

Public Member Functions
virtual	~BaseJointVisual ()
	Destructor.

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

virtual gz::math::Vector3d	Axis () const override
	Get axis vector.

virtual gz::math::Vector3d	ParentAxis () const override
	Get parent axis vector.

virtual JointVisualPtr	ParentAxisVisual () const override
	Get the JointVisual which is attached to the parent.

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

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

virtual void	SetType (const JointVisualType _type) override
	Set type for joint visual.

virtual void	SetVisible (bool _visible) override
	Specify if this visual is visible.

virtual JointVisualType	Type () const override
	Get joint visual type.

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

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

Public Member Functions inherited from JointVisual
virtual	~JointVisual ()
	Destructor.

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

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.

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

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

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

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

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

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

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

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

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

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.

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.

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

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

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

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.

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

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.

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

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

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

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

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

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

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.

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

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

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.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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.

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.

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.

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.

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

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

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

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.

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

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

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

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

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

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

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

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

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

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

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

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

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.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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.

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.

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

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

Protected Member Functions
	BaseJointVisual ()
	Constructor.

void	CreateAxis ()
	Helper function to create axis visual.

void	CreateParentAxis ()
	Helper function to create parent axis visual.

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

virtual void	Init () override

virtual void	PreRender () override
	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.

void	ScaleToChild ()
	Scale the joint visual according to the joint's child.

void	UpdateAxisImpl (ArrowVisualPtr _arrowVisual, const gz::math::Vector3d &_axis, bool _useParentFrame)
	Implementation for updating an axis' arrow visual.

Protected Attributes
ArrowVisualPtr	arrowVisual = nullptr
	The visual representing the one joint axis. There can be only one axis visual per joint visual, so joints with two axes have a 2nd JointVisual with its own arrowVisual.

gz::math::Vector3d	axis
	Joint visual axis vector.

AxisVisualPtr	axisVisual = nullptr
	The joint's XYZ frame visual.

bool	dirtyAxis = false
	Flag to indicate axis data has changed.

bool	dirtyJointType = false
	Flag to indicate joint visual type has changed.

bool	dirtyParentAxis = false
	Flag to indicate parent axis data has changed.

std::string	jointParentName = ""
	Joint parent name.

JointVisualType	jointVisualType
	Type of joint visualization.

gz::math::Vector3d	parentAxis
	Parent axis vector.

bool	parentAxisUseParentFrame = false
	Flag to indicate whether parent axis vector is expressed in joint parent frame.

JointVisualPtr	parentAxisVis = nullptr
	Second joint visual for hinge2 and universal joints. It is a simplified visual without an XYZ frame.

gz::math::Vector3d	scaleToChild
	Scale based on the size of the joint's child.

bool	updateAxis = false
	Flag to update the axis visual.

bool	updateParentAxis = false
	Flag to update the parent axis visual.

bool	useParentFrame = false
	Flag to indicate whether axis vector is expressed in joint parent frame.

Detailed Description

template<class T>
class gz::rendering::BaseJointVisual< T >

Base implementation of a joint visual.

Constructor & Destructor Documentation

◆ BaseJointVisual()

template<class T >

BaseJointVisual ( )

protected

Constructor.

◆ ~BaseJointVisual()

template<class T >

~BaseJointVisual ( )

virtual

Destructor.

Member Function Documentation

◆ ArrowVisual()

template<class T >

ArrowVisualPtr ArrowVisual ( ) const

overridevirtual

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

Returns: Arrow visual.

Implements JointVisual.

◆ Axis()

template<class T >

gz::math::Vector3d Axis ( ) const

overridevirtual

Get axis vector.

Returns: The axis vector.

Implements JointVisual.

◆ CreateAxis()

template<class T >

void CreateAxis ( )

protected

Helper function to create axis visual.

References Scene::CreateArrowVisual().

◆ CreateParentAxis()

template<class T >

void CreateParentAxis ( )

protected

Helper function to create parent axis visual.

References Scene::CreateJointVisual(), gzlog, and Scene::NodeByName().

◆ Destroy()

template<class T >

void Destroy ( )

overrideprotectedvirtual

Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior.

Implements Object.

◆ Init()

template<class T >

void Init ( )

overrideprotectedvirtual

References Scene::CreateAxisVisual().

◆ ParentAxis()

template<class T >

gz::math::Vector3d ParentAxis ( ) const

overridevirtual

Get parent axis vector.

Returns: The parent axis vector.

Implements JointVisual.

◆ ParentAxisVisual()

template<class T >

JointVisualPtr ParentAxisVisual ( ) const

overridevirtual

Get the JointVisual which is attached to the parent.

Returns: Parent axis visual.

Implements JointVisual.

◆ PreRender()

template<class T >

void PreRender ( )

overrideprotectedvirtual

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.

Implements Object.

◆ ScaleToChild()

template<class T >

void ScaleToChild ( )

protected

Scale the joint visual according to the joint's child.

References std::dynamic_pointer_cast(), and std::max().

◆ SetAxis()

template<class T >

void SetAxis	(	const gz::math::Vector3d &	_axis,
		bool	_useParentFrame
	)

overridevirtual

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.

Implements JointVisual.

◆ SetParentAxis()

template<class T >

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

overridevirtual

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.

Implements JointVisual.

References gzlog, gz::rendering::JVT_REVOLUTE2, and gz::rendering::JVT_UNIVERSAL.

◆ SetType()

template<class T >

void SetType ( const JointVisualType _type )

overridevirtual

Set type for joint visual.

Parameters

[in] _type The type of visualisation for joint.

Implements JointVisual.

◆ SetVisible()

template<class T >

void SetVisible ( bool _visible )

overridevirtual

Specify if this visual is visible.

Parameters

[in] _visible True if this visual should be made visible

Implements Visual.

References gz::rendering::JVT_REVOLUTE2, gz::rendering::JVT_UNIVERSAL, and Visual::SetVisible().

◆ Type()

template<class T >

JointVisualType Type ( ) const

overridevirtual

Get joint visual type.

Returns: The joint visual type.

Implements JointVisual.

◆ UpdateAxis()

template<class T >

bool UpdateAxis	(	const gz::math::Vector3d &	_axis,
		bool	_useParentFrame
	)

overridevirtual

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.

Implements JointVisual.

◆ UpdateAxisImpl()

template<class T >

void UpdateAxisImpl	(	ArrowVisualPtr	_arrowVisual,
		const gz::math::Vector3d &	_axis,
		bool	_useParentFrame
	)

protected

Implementation for updating an axis' arrow visual.

Parameters

[in]	_arrowVisual	Arrow visual to be updated.
[in]	_axis	Axis vector.
[in]	_useParentFrame	True if the axis vector is expressed in the joint parent frame.

References Vector3< typename T >::Cross(), Vector3< typename T >::Dot(), gz::math::equal(), GZ_PI, Quaternion< typename T >::Inverse(), gz::rendering::JVT_GEARBOX, gz::rendering::JVT_REVOLUTE, gz::rendering::JVT_REVOLUTE2, gz::rendering::JVT_UNIVERSAL, Vector3< typename T >::Normalize(), Vector3< typename T >::Perpendicular(), Quaternion< typename T >::SetFromAxisAngle(), Vector3< typename T >::UnitX, Vector3< typename T >::UnitY, and Vector3< typename T >::UnitZ.

◆ UpdateParentAxis()

template<class T >

bool UpdateParentAxis	(	const gz::math::Vector3d &	_axis,
		bool	_useParentFrame
	)

overridevirtual

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.

Implements JointVisual.

Member Data Documentation

◆ arrowVisual

template<class T >

ArrowVisualPtr arrowVisual = nullptr

protected

The visual representing the one joint axis. There can be only one axis visual per joint visual, so joints with two axes have a 2nd JointVisual with its own arrowVisual.

◆ axis

template<class T >

gz::math::Vector3d axis

protected

Initial value:

=

gz::math::Vector3d::Zero

Joint visual axis vector.

◆ axisVisual

template<class T >

AxisVisualPtr axisVisual = nullptr

protected

The joint's XYZ frame visual.

◆ dirtyAxis

template<class T >

bool dirtyAxis = false

protected

Flag to indicate axis data has changed.

◆ dirtyJointType

template<class T >

bool dirtyJointType = false

protected

Flag to indicate joint visual type has changed.

◆ dirtyParentAxis

template<class T >

bool dirtyParentAxis = false

protected

Flag to indicate parent axis data has changed.

◆ jointParentName

template<class T >

std::string jointParentName = ""

protected

Joint parent name.

◆ jointVisualType

template<class T >

JointVisualType jointVisualType

protected

Initial value:

=

JointVisualType::JVT_NONE

Type of joint visualization.

◆ parentAxis

template<class T >

gz::math::Vector3d parentAxis

protected

Initial value:

=

gz::math::Vector3d::Zero

Parent axis vector.

◆ parentAxisUseParentFrame

template<class T >

bool parentAxisUseParentFrame = false

protected

Flag to indicate whether parent axis vector is expressed in joint parent frame.

◆ parentAxisVis

template<class T >

JointVisualPtr parentAxisVis = nullptr

protected

Second joint visual for hinge2 and universal joints. It is a simplified visual without an XYZ frame.

◆ scaleToChild

template<class T >

gz::math::Vector3d scaleToChild

protected

Initial value:

=

gz::math::Vector3d::One

Scale based on the size of the joint's child.

◆ updateAxis

template<class T >

bool updateAxis = false

protected

Flag to update the axis visual.

◆ updateParentAxis

template<class T >

bool updateParentAxis = false

protected

Flag to update the parent axis visual.

◆ useParentFrame

template<class T >

bool useParentFrame = false

protected

Flag to indicate whether axis vector is expressed in joint parent frame.

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

BaseJointVisual.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BaseJointVisual()

◆ ~BaseJointVisual()

Member Function Documentation

◆ ArrowVisual()

◆ Axis()

◆ CreateAxis()

◆ CreateParentAxis()

◆ Destroy()

◆ Init()

◆ ParentAxis()

◆ ParentAxisVisual()

◆ PreRender()

◆ ScaleToChild()

◆ SetAxis()

◆ SetParentAxis()

◆ SetType()

◆ SetVisible()

◆ Type()

◆ UpdateAxis()

◆ UpdateAxisImpl()

◆ UpdateParentAxis()

Member Data Documentation

◆ arrowVisual

◆ axis

◆ axisVisual

◆ dirtyAxis

◆ dirtyJointType

◆ dirtyParentAxis

◆ jointParentName

◆ jointVisualType

◆ parentAxis

◆ parentAxisUseParentFrame

◆ parentAxisVis

◆ scaleToChild

◆ updateAxis

◆ updateParentAxis

◆ useParentFrame