smacc_rviz_plugin::ImuVisual Class Reference

#include <imu_visual.h>

Collaboration diagram for smacc_rviz_plugin::ImuVisual:

Public Member Functions
	ImuVisual (Ogre::SceneManager *scene_manager, Ogre::SceneNode *parent_node)
virtual	~ImuVisual ()
void	setMessage (const sensor_msgs::Imu::ConstPtr &msg)
void	setFramePosition (const Ogre::Vector3 &position)
void	setFrameOrientation (const Ogre::Quaternion &orientation)
void	setColor (float r, float g, float b, float a)

Private Attributes
boost::shared_ptr< rviz::Arrow >	acceleration_arrow_
Ogre::SceneNode *	frame_node_
Ogre::SceneManager *	scene_manager_

Detailed Description

Definition at line 49 of file imu_visual.h.

Constructor & Destructor Documentation

ImuVisual()

smacc_rviz_plugin::ImuVisual::ImuVisual	(	Ogre::SceneManager *	scene_manager,
		Ogre::SceneNode *	parent_node
	)

Definition at line 42 of file imu_visual.cpp.

{
  scene_manager_ = scene_manager;
 
  // Ogre::SceneNode s form a tree, with each node storing the
  // transform (position and orientation) of itself relative to its
  // parent.  Ogre does the math of combining those transforms when it
  // is time to render.
  //
  // Here we create a node to store the pose of the Imu's header frame
  // relative to the RViz fixed frame.
  frame_node_ = parent_node->createChildSceneNode();
 
  // We create the arrow object within the frame node so that we can
  // set its position and direction relative to its header frame.
  acceleration_arrow_.reset(new rviz::Arrow( scene_manager_, frame_node_ ));
}

References acceleration_arrow_, frame_node_, and scene_manager_.

~ImuVisual()

smacc_rviz_plugin::ImuVisual::~ImuVisual ( )

virtual

Definition at line 60 of file imu_visual.cpp.

{
  // Destroy the frame node since we don't need it anymore.
  scene_manager_->destroySceneNode( frame_node_ );
}

References frame_node_, and scene_manager_.

Member Function Documentation

setColor()

void smacc_rviz_plugin::ImuVisual::setColor	(	float	r,
		float	g,
		float	b,
		float	a
	)

Definition at line 97 of file imu_visual.cpp.

{
  acceleration_arrow_->setColor( r, g, b, a );
}

References acceleration_arrow_.

setFrameOrientation()

void smacc_rviz_plugin::ImuVisual::setFrameOrientation

(

const Ogre::Quaternion &

orientation

)

Definition at line 91 of file imu_visual.cpp.

{
  frame_node_->setOrientation( orientation );
}

References frame_node_.

setFramePosition()

void smacc_rviz_plugin::ImuVisual::setFramePosition

(

const Ogre::Vector3 &

position

)

Definition at line 86 of file imu_visual.cpp.

{
  frame_node_->setPosition( position );
}

References frame_node_.

setMessage()

void smacc_rviz_plugin::ImuVisual::setMessage

(

const sensor_msgs::Imu::ConstPtr &

msg

)

Definition at line 66 of file imu_visual.cpp.

{
  const geometry_msgs::Vector3& a = msg->linear_acceleration;
 
  // Convert the geometry_msgs::Vector3 to an Ogre::Vector3.
  Ogre::Vector3 acc( a.x, a.y, a.z );
 
  // Find the magnitude of the acceleration vector.
  float length = acc.length();
 
  // Scale the arrow's thickness in each dimension along with its length.
  Ogre::Vector3 scale( length, length, length );
  acceleration_arrow_->setScale( scale );
 
  // Set the orientation of the arrow to match the direction of the
  // acceleration vector.
  acceleration_arrow_->setDirection( acc );
}

References acceleration_arrow_.

Member Data Documentation

acceleration_arrow_

boost::shared_ptr<rviz::Arrow> smacc_rviz_plugin::ImuVisual::acceleration_arrow_

private

Definition at line 76 of file imu_visual.h.

Referenced by ImuVisual(), setColor(), and setMessage().

frame_node_

Ogre::SceneNode* smacc_rviz_plugin::ImuVisual::frame_node_

private

Definition at line 80 of file imu_visual.h.

Referenced by ImuVisual(), setFrameOrientation(), setFramePosition(), and ~ImuVisual().

scene_manager_

Ogre::SceneManager* smacc_rviz_plugin::ImuVisual::scene_manager_

private

Definition at line 84 of file imu_visual.h.

Referenced by ImuVisual(), and ~ImuVisual().

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

• smacc_diagnostics/smacc_rviz_plugin/src/imu_visual.h
• smacc_diagnostics/smacc_rviz_plugin/src/imu_visual.cpp