Plot the trajectory of an entity into the 3D scene. More...

#include <Plot3D.hh>

Signals
void	ColorChanged ()
	Notify that the color has changed. More...

void	LockedChanged ()
	Notify that locked has changed. More...

void	MaxPointsChanged ()
	Notify that the maximum points has changed. More...

void	MinDistanceChanged ()
	Notify that the minimum distance has changed. More...

void	OffsetChanged ()
	Notify that the offset has changed. More...

void	TargetEntityChanged ()
	Notify that entity has changed. More...

void	TargetNameChanged ()
	Notify that target name has changed. More...

Public Member Functions
	Plot3D ()
	Constructor. More...

	~Plot3D () override
	Destructor. More...

Q_INVOKABLE QVector3D	Color () const
	Get the color of the plot. More...

void	LoadConfig (const tinyxml2::XMLElement *_pluginElem) override

Q_INVOKABLE bool	Locked () const
	Get whether the plugin is currently locked on a target. More...

Q_INVOKABLE int	MaxPoints () const
	Get the maximum number of points. More...

Q_INVOKABLE double	MinDistance () const
	Get the minimum distance between points. More...

Q_INVOKABLE QVector3D	Offset () const
	Get the offset in the target's frame. More...

Q_INVOKABLE void	SetColor (const QVector3D &_color)
	Set the color of the plot. More...

Q_INVOKABLE void	SetLocked (bool _locked)
	Set whether the plugin is currently locked on a target. More...

Q_INVOKABLE void	SetMaxPoints (int _maxPoints)
	Set the maximum number of points. If the plot has more than this number, older points start being removed. More...

Q_INVOKABLE void	SetMinDistance (double _minDistance)
	Set the minimum distance between points. If the target moved less than this distance, the latest position won't be plotted. More...

Q_INVOKABLE void	SetOffset (const QVector3D &_offset)
	Set the offset. More...

Q_INVOKABLE void	SetTargetEntity (Entity _entity)
	Set the target currently controlled. More...

Q_INVOKABLE void	SetTargetName (const QString &_name)
	Set the name of target currently controlled. More...

Q_INVOKABLE Entity	TargetEntity () const
	Get the target currently controlled. More...

Q_INVOKABLE QString	TargetName () const
	Get the name of target currently controlled. More...

void	Update (const UpdateInfo &_info, EntityComponentManager &_ecm) override
	Update callback called every time the system is stepped. This is called at a Gazebo Transport thread, so any interaction with Qt should be done through signals and slots. More...

Protected Member Functions
bool	eventFilter (QObject _obj, QEvent _event) override

Properties
QVector3D	color
	Plot line color. More...

bool	locked
	Whether the plugin is locked on an entity. More...

int	maxPoints
	Maximum number of total points on the plot. More...

double	minDistance
	Minimum distance between plot points. More...

QVector3D	offset
	XYZ offset to the entity's origin to plot. More...

Entity	targetEntity
	Target entity. More...

QString	targetName
	Target entity scoped name. More...

Detailed Description

Plot the trajectory of an entity into the 3D scene.

This plugin can be instantiated multiple times to plot various entities.

The plugin is automatically attached to the currently selected entity, unless it is locked on an entity.

Configuration

<entity_name> (optional): Plot the given entity at startup. Accepts names scoped with ::, for example my_model::my_link. If not provided, the plugin starts not attached to any entity, and will attach to the next selected entity.
<color> (optional): RGB color of line, defaults to blue.
<offset> (optional): XYZ offset from the entity's origin to plot from, expressed in the entity's frame. Defaults to zero.
<minimum_distance> (optional): The minimum distance between points to plot. A new point will not be plotted until the entity has moved beyond this distance from the previous point. Defaults to 0.05 m.
<maximum_points> (optional): Maximum number of points on the plot. After this number is reached, the older points start being deleted. Defaults to 1000.

Constructor & Destructor Documentation

◆ Plot3D()

Plot3D ( )

Constructor.

◆ ~Plot3D()

~Plot3D ( )

override

Destructor.

Member Function Documentation

◆ Color()

Q_INVOKABLE QVector3D Color ( ) const

Get the color of the plot.

Returns: The current color.

◆ ColorChanged

void ColorChanged ( )

signal

Notify that the color has changed.

◆ eventFilter()

bool eventFilter	(	QObject *	_obj,
		QEvent *	_event
	)

overrideprotected

◆ LoadConfig()

void LoadConfig ( const tinyxml2::XMLElement * _pluginElem )

override

◆ Locked()

Q_INVOKABLE bool Locked ( ) const

Get whether the plugin is currently locked on a target.

Returns: True for locked

◆ LockedChanged

void LockedChanged ( )

signal

Notify that locked has changed.

◆ MaxPoints()

Q_INVOKABLE int MaxPoints ( ) const

Get the maximum number of points.

Returns: The current maximum points.

◆ MaxPointsChanged

void MaxPointsChanged ( )

signal

Notify that the maximum points has changed.

◆ MinDistance()

Q_INVOKABLE double MinDistance ( ) const

Get the minimum distance between points.

Returns: The current minimum distance.

◆ MinDistanceChanged

void MinDistanceChanged ( )

signal

Notify that the minimum distance has changed.

◆ Offset()

Q_INVOKABLE QVector3D Offset ( ) const

Get the offset in the target's frame.

Returns: The current offset.

◆ OffsetChanged

void OffsetChanged ( )

signal

Notify that the offset has changed.

◆ SetColor()

Q_INVOKABLE void SetColor ( const QVector3D & _color )

Set the color of the plot.

Parameters

[in] _color New color.

◆ SetLocked()

Q_INVOKABLE void SetLocked ( bool _locked )

Set whether the plugin is currently locked on a target.

Parameters

[in] _locked True for locked.

◆ SetMaxPoints()

Q_INVOKABLE void SetMaxPoints ( int _maxPoints )

Set the maximum number of points. If the plot has more than this number, older points start being removed.

Parameters

[in] _maxPoints Maximum number of points.

◆ SetMinDistance()

Q_INVOKABLE void SetMinDistance ( double _minDistance )

Set the minimum distance between points. If the target moved less than this distance, the latest position won't be plotted.

Parameters

[in] _minDistance New distance.

◆ SetOffset()

Q_INVOKABLE void SetOffset ( const QVector3D & _offset )

Set the offset.

Parameters

[in] _offset The offset in the target's frame

◆ SetTargetEntity()

Q_INVOKABLE void SetTargetEntity ( Entity _entity )

Set the target currently controlled.

Parameters

[in] _entity Target entity ID.

◆ SetTargetName()

Q_INVOKABLE void SetTargetName ( const QString & _name )

Set the name of target currently controlled.

Parameters

[in] _name TargetName, such as 'world' or 'target'.

◆ TargetEntity()

Q_INVOKABLE Entity TargetEntity ( ) const

Get the target currently controlled.

Returns: Target entity ID.

◆ TargetEntityChanged

void TargetEntityChanged ( )

signal

Notify that entity has changed.

◆ TargetName()

Q_INVOKABLE QString TargetName ( ) const

Get the name of target currently controlled.

Returns: TargetName, such as 'world' or 'target'

◆ TargetNameChanged

void TargetNameChanged ( )

signal

Notify that target name has changed.

◆ Update()

void Update	(	const UpdateInfo &	_info,
		EntityComponentManager &	_ecm
	)

overridevirtual

Update callback called every time the system is stepped. This is called at a Gazebo Transport thread, so any interaction with Qt should be done through signals and slots.

Parameters

[in]	_info	Current simulation information, such as time.
[in]	_ecm	Mutable reference to the ECM, so the system can read and write entities and their components.

Reimplemented from GuiSystem.

Property Documentation

◆ color

QVector3D color

readwrite

Plot line color.

◆ locked

bool locked

readwrite

Whether the plugin is locked on an entity.

◆ maxPoints

int maxPoints

readwrite

Maximum number of total points on the plot.

◆ minDistance

double minDistance

readwrite

Minimum distance between plot points.

◆ offset

QVector3D offset

readwrite

XYZ offset to the entity's origin to plot.

◆ targetEntity

Entity targetEntity

readwrite

Target entity.

◆ targetName

QString targetName

readwrite

Target entity scoped name.

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

Plot3D.hh

Signals

Public Member Functions

Protected Member Functions

Properties

Detailed Description

Configuration

Constructor & Destructor Documentation

◆ Plot3D()

◆ ~Plot3D()

Member Function Documentation

◆ Color()

◆ ColorChanged

◆ eventFilter()

◆ LoadConfig()

◆ Locked()

◆ LockedChanged

◆ MaxPoints()

◆ MaxPointsChanged

◆ MinDistance()

◆ MinDistanceChanged

◆ Offset()

◆ OffsetChanged

◆ SetColor()

◆ SetLocked()

◆ SetMaxPoints()

◆ SetMinDistance()

◆ SetOffset()

◆ SetTargetEntity()

◆ SetTargetName()

◆ TargetEntity()

◆ TargetEntityChanged

◆ TargetName()

◆ TargetNameChanged

◆ Update()

Property Documentation

◆ color

◆ locked

◆ maxPoints

◆ minDistance

◆ offset

◆ targetEntity

◆ targetName