toggle visualizations on and off

ANYbotics · Mar 17, 2015 · 8ba8b48 · 8ba8b48
1 parent e21a655
commit 8ba8b48
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Showing 6 changed files with 438 additions and 167 deletions.
diff --git a/...lugins/include/multi_dof_joint_trajectory_rviz_plugins/MultiDOFJointTrajectoryDisplay.hpp b/...lugins/include/multi_dof_joint_trajectory_rviz_plugins/MultiDOFJointTrajectoryDisplay.hpp
@@ -42,6 +42,13 @@ Q_OBJECT
 
 
 private Q_SLOTS:
+  void setShowConnection();
+  void setShowTransformRotation();
+  void setShowVelocityLinear();
+  void setShowVelocityAngular();
+  void setShowAccelerationLinear();
+  void setShowAccelerationAngular();
+
   void setSizeTransformRotation();
   void setDiameterArrows();
   void setScaleVelocityLinear();
@@ -65,6 +72,13 @@ private Q_SLOTS:
 private:
   void processMessage(const trajectory_msgs::MultiDOFJointTrajectory::ConstPtr& msg);
 
+  void updateShowConnection();
+  void updateShowTransformRotation();
+  void updateShowVelocityLinear();
+  void updateShowVelocityAngular();
+  void updateShowAccelerationLinear();
+  void updateShowAccelerationAngular();
+
   void updateSizeTransformRotation();
   void updateDiameterArrows();
   void updateScaleVelocityLinear();
@@ -82,28 +96,42 @@ private Q_SLOTS:
   void updateFontSize();
   void updateShowText();
 
-  boost::circular_buffer<std::vector<boost::shared_ptr<MultiDOFJointTrajectoryPointVisual>>> points_visuals_;
-  boost::circular_buffer<std::vector<boost::shared_ptr<MultiDOFJointTrajectoryPointConnectionVisual>>> connections_visuals_;
-
-  rviz::FloatProperty* size_property_transform_rotation_;
-  rviz::FloatProperty* diameter_property_arrows_;
-  rviz::FloatProperty* scale_property_velocity_linear_;
-  rviz::FloatProperty* scale_property_velocity_angular_;
-  rviz::FloatProperty* scale_property_acceleration_linear_;
-  rviz::FloatProperty* scale_property_acceleration_angular_;
-
-  rviz::ColorProperty* color_property_connection_;
-  rviz::ColorProperty* color_property_velocity_linear_;
-  rviz::ColorProperty* color_property_velocity_angular_;
-  rviz::ColorProperty* color_property_acceleration_linear_;
-  rviz::ColorProperty* color_property_acceleration_angular_;
-
-  rviz::FloatProperty* alpha_property_;
-
-  rviz::FloatProperty* font_size_property_;
-  rviz::BoolProperty* show_text_property_;
-
-  rviz::IntProperty* history_length_property_;
+  boost::circular_buffer<std::vector<boost::shared_ptr<MultiDOFJointTrajectoryPointVisual>>> visuals_points_;
+  boost::circular_buffer<std::vector<boost::shared_ptr<MultiDOFJointTrajectoryPointConnectionVisual>>> visuals_connections_;
+
+  rviz::BoolProperty* property_show_connection_;
+  rviz::BoolProperty* property_show_transform_rotation_;
+  rviz::BoolProperty* property_show_velocity_linear_;
+  rviz::BoolProperty* property_show_velocity_angular_;
+  rviz::BoolProperty* property_show_acceleration_linear_;
+  rviz::BoolProperty* property_show_acceleration_angular_;
+
+  rviz::FloatProperty* property_size_transform_rotation_;
+  rviz::FloatProperty* property_diameter_arrows_;
+  rviz::FloatProperty* property_scale_velocity_linear_;
+  rviz::FloatProperty* property_scale_velocity_angular_;
+  rviz::FloatProperty* property_scale_acceleration_linear_;
+  rviz::FloatProperty* property_scale_acceleration_angular_;
+
+  rviz::ColorProperty* property_color_connection_;
+  rviz::ColorProperty* property_color_velocity_linear_;
+  rviz::ColorProperty* property_color_velocity_angular_;
+  rviz::ColorProperty* property_color_acceleration_linear_;
+  rviz::ColorProperty* property_color_acceleration_angular_;
+
+  rviz::FloatProperty* property_alpha_;
+
+  rviz::FloatProperty* property_font_size_;
+  rviz::BoolProperty* property_show_text_;
+
+  rviz::IntProperty* property_history_length_;
+
+  bool show_connection_;
+  bool show_transform_rotation_;
+  bool show_velocity_linear_;
+  bool show_velocity_angular_;
+  bool show_acceleration_linear_;
+  bool show_acceleration_angular_;
 
   float size_transform_rotation_;
   float diameter_arrows_;

diff --git a/.../multi_dof_joint_trajectory_rviz_plugins/MultiDOFJointTrajectoryPointConnectionVisual.hpp b/.../multi_dof_joint_trajectory_rviz_plugins/MultiDOFJointTrajectoryPointConnectionVisual.hpp
@@ -22,12 +22,15 @@ class MultiDOFJointTrajectoryPointConnectionVisual
       Ogre::SceneNode* parent_node,
       const trajectory_msgs::MultiDOFJointTrajectoryPoint& from,
       const trajectory_msgs::MultiDOFJointTrajectoryPoint& to,
+      float show_connection,
       const Ogre::ColourValue& color);
   virtual ~MultiDOFJointTrajectoryPointConnectionVisual();
 
+  void setShowConnection(bool visible);
   void setColor(const Ogre::ColourValue& color);
 
 private:
+  void updateShowConnection();
   void updateColor();
 
   Ogre::SceneManager* scene_manager_;
@@ -36,6 +39,7 @@ class MultiDOFJointTrajectoryPointConnectionVisual
 
   std::vector<boost::shared_ptr<rviz::Line>> lines_;
 
+  float show_connection_;
   Ogre::ColourValue color_;
 };
 

diff --git a/...ns/include/multi_dof_joint_trajectory_rviz_plugins/MultiDOFJointTrajectoryPointVisual.hpp b/...ns/include/multi_dof_joint_trajectory_rviz_plugins/MultiDOFJointTrajectoryPointVisual.hpp
@@ -24,6 +24,11 @@ class MultiDOFJointTrajectoryPointVisual
       Ogre::SceneManager* scene_manager,
       Ogre::SceneNode* parent_node,
       const trajectory_msgs::MultiDOFJointTrajectoryPoint& msg,
+      bool show_transform_rotation,
+      bool show_velocity_linear,
+      bool show_velocity_angular,
+      bool show_acceleration_linear,
+      bool show_acceleration_angular,
       float size_transform_rotation,
       float diameter_arrows,
       float scale_velocity_linear,
@@ -40,6 +45,12 @@ class MultiDOFJointTrajectoryPointVisual
       bool show_text);
   virtual ~MultiDOFJointTrajectoryPointVisual();
 
+  void setShowTransformRotation(bool visible);
+  void setShowVelocityLinear(bool visible);
+  void setShowVelocityAngular(bool visible);
+  void setShowAccelerationLinear(bool visible);
+  void setShowAccelerationAngular(bool visible);
+
   void setSizeTransformRotation(float size);
   void setDiametersArrows(float diameter);
   void setScaleVelocityLinear(float scale);
@@ -76,6 +87,7 @@ class MultiDOFJointTrajectoryPointVisual
   void updateFontSize();
   void updateShowText();
 
+  Ogre::ColourValue getColor(const Ogre::ColourValue& color, bool visible);
   float getCharacterHeight();
 
   Ogre::SceneManager* scene_manager_;
@@ -93,6 +105,12 @@ class MultiDOFJointTrajectoryPointVisual
   std::vector<double> accelerations_linear_absolute_;
   std::vector<double> accelerations_angular_absolute_;
 
+  bool show_transform_rotation_;
+  bool show_velocity_linear_;
+  bool show_velocity_angular_;
+  bool show_acceleration_linear_;
+  bool show_acceleration_angular_;
+
   const float axis_radius_per_size_;
 
   float size_transform_rotation_;