fixed visibility update of scene nodes

All scene nodes are hidden if
- there is no solution to display
- or if animation finished and neither the panel nor the trail are enabled

Hiding scene nodes is done by detaching them from their parent
This commit is contained in:
Robert Haschke 2017-11-14 15:53:46 +01:00
parent d5627c0c39
commit 428bdd7d0c
3 changed files with 71 additions and 38 deletions

View File

@ -34,8 +34,7 @@
/* Author: Yannick Jonetzko */
#ifndef MOVEIT_TRAJECTORY_RVIZ_PLUGIN_TASK_SOLUTION_PANEL_
#define MOVEIT_TRAJECTORY_RVIZ_PLUGIN_TASK_SOLUTION_PANEL_
#pragma once
#ifndef Q_MOC_RUN
#include <ros/ros.h>
@ -93,5 +92,3 @@ protected:
};
} // namespace moveit_rviz_plugin
#endif

View File

@ -126,6 +126,7 @@ private Q_SLOTS:
void renderCurrentScene();
protected:
void setVisibility(Ogre::SceneNode* node, Ogre::SceneNode* parent, bool visible);
float getStateDisplayTime();
void clearTrail();
void renderWayPoint(size_t index, int previous_index);
@ -153,7 +154,9 @@ protected:
// Pointers from parent display that we save
rviz::Display* display_; // the parent display that this class populates
Ogre::SceneNode* scene_node_;
Ogre::SceneNode* parent_scene_node_; // parent scene node provided by display
Ogre::SceneNode* main_scene_node_; // to be added/removed to/from scene_node_
Ogre::SceneNode* trail_scene_node_; // to be added/removed to/from scene_node_
rviz::DisplayContext* context_;
TaskSolutionPanel* slider_panel_ = nullptr;
rviz::PanelDockWidget* slider_dock_panel_ = nullptr;

View File

@ -169,20 +169,21 @@ TaskSolutionVisualization::~TaskSolutionVisualization()
void TaskSolutionVisualization::onInitialize(Ogre::SceneNode* scene_node, rviz::DisplayContext* context)
{
// Save pointers for later use
scene_node_ = scene_node;
parent_scene_node_ = scene_node;
context_ = context;
scene_node_->setVisible(false);
main_scene_node_ = parent_scene_node_->getCreator()->createSceneNode();
trail_scene_node_ = parent_scene_node_->getCreator()->createSceneNode();
// Load trajectory robot
robot_render_.reset(new RobotStateVisualization(scene_node_, context_, "Solution Trajectory", robot_property_));
robot_render_.reset(new RobotStateVisualization(main_scene_node_, context_, "Solution Trajectory", robot_property_));
robot_render_->setVisualVisible(robot_visual_enabled_property_->getBool());
robot_render_->setCollisionVisible(robot_collision_enabled_property_->getBool());
changedRobotAlpha();
enabledRobotColor();
robot_render_->setVisible(true);
scene_render_.reset(new PlanningSceneRender(scene_node_, context_, RobotStateVisualizationPtr()));
scene_render_->getGeometryNode()->setVisible(true);
scene_render_.reset(new PlanningSceneRender(main_scene_node_, context_, RobotStateVisualizationPtr()));
scene_render_->getGeometryNode()->setVisible(scene_enabled_property_->getBool());
rviz::WindowManagerInterface* window_context = context_->getWindowManager();
if (window_context)
@ -227,7 +228,10 @@ void TaskSolutionVisualization::reset()
robot_render_->setVisualVisible(robot_visual_enabled_property_->getBool());
robot_render_->setCollisionVisible(robot_collision_enabled_property_->getBool());
scene_node_->setVisible(false);
scene_render_->getGeometryNode()->setVisible(scene_enabled_property_->getBool());
if (main_scene_node_->getParent())
parent_scene_node_->removeChild(main_scene_node_);
}
void TaskSolutionVisualization::clearTrail()
@ -238,7 +242,6 @@ void TaskSolutionVisualization::clearTrail()
void TaskSolutionVisualization::changedLoopDisplay()
{
scene_node_->setVisible(display_->isEnabled() && displaying_solution_ && animating_);
if (loop_display_property_->getBool() && slider_panel_)
slider_panel_->pauseButton(false);
}
@ -246,14 +249,17 @@ void TaskSolutionVisualization::changedLoopDisplay()
void TaskSolutionVisualization::changedTrail()
{
clearTrail();
if (!trail_display_property_->getBool())
return;
DisplaySolutionPtr t = solution_to_display_;
if (!t)
t = displaying_solution_;
if (!t)
if (!t || !trail_display_property_->getBool()) {
setVisibility(trail_scene_node_, main_scene_node_, false);
return;
}
setVisibility(main_scene_node_, parent_scene_node_, true);
setVisibility(trail_scene_node_, main_scene_node_, true);
int stepsize = trail_step_size_property_->getInt();
// always include last trajectory point
@ -261,7 +267,7 @@ void TaskSolutionVisualization::changedTrail()
for (std::size_t i = 0; i < trail_.size(); i++)
{
int waypoint_i = std::min(i * stepsize, t->getWayPointCount() - 1); // limit to last trajectory point
rviz::Robot* r = new rviz::Robot(scene_node_, context_, "Trail Robot " + boost::lexical_cast<std::string>(i), NULL);
rviz::Robot* r = new rviz::Robot(trail_scene_node_, context_, "Trail Robot " + boost::lexical_cast<std::string>(i), NULL);
r->load(*scene_->getRobotModel()->getURDF());
r->setVisualVisible(robot_visual_enabled_property_->getBool());
r->setCollisionVisible(robot_collision_enabled_property_->getBool());
@ -297,12 +303,13 @@ void TaskSolutionVisualization::changedRobotCollisionEnabled()
void TaskSolutionVisualization::onEnable()
{
scene_node_->setVisible(displaying_solution_ && animating_);
}
void TaskSolutionVisualization::onDisable()
{
scene_node_->setVisible(false);
// make all scene nodes invisible
if (main_scene_node_->getParent())
parent_scene_node_->removeChild(main_scene_node_);
displaying_solution_.reset();
animating_ = false;
@ -352,12 +359,11 @@ void TaskSolutionVisualization::update(float wall_dt, float ros_dt)
{
animating_ = false;
displaying_solution_.reset();
scene_node_->setVisible(false);
slider_panel_->update(0);
drop_displaying_solution_ = false;
}
if (!animating_)
{ // finished last animation?
{ // finished last animation
boost::mutex::scoped_lock lock(display_solution_mutex_);
// new trajectory available to display?
@ -371,11 +377,9 @@ void TaskSolutionVisualization::update(float wall_dt, float ros_dt)
}
else if (displaying_solution_)
{
if (loop_display_property_->getBool())
{ // do loop? -> start over too
if (loop_display_property_->getBool()) {
animating_ = true;
}
else if (slider_panel_ && slider_panel_->isVisible())
} else if (slider_panel_ && slider_panel_->isVisible())
{
if (slider_panel_->getSliderPosition() == (int)displaying_solution_->getWayPointCount() - 1)
return; // nothing more to do
@ -387,9 +391,10 @@ void TaskSolutionVisualization::update(float wall_dt, float ros_dt)
if (animating_)
{
// restart animation
current_state_ = -1;
current_state_time_ = std::numeric_limits<float>::infinity();
scene_node_->setVisible(display_->isEnabled());
trail_scene_node_->setVisible(false);
}
}
@ -411,16 +416,15 @@ void TaskSolutionVisualization::update(float wall_dt, float ros_dt)
if (current_state_ < waypoint_count)
{
renderWayPoint(current_state_, previous_state);
for (std::size_t i = 0; i < trail_.size(); ++i)
trail_[i]->setVisible(
std::min(waypoint_count - 1,
static_cast<int>(i) * trail_step_size_property_->getInt()) <= current_state_);
int stepsize = trail_step_size_property_->getInt();
for (int i = std::max(0, previous_state / stepsize),
end = std::min(current_state_ / stepsize, ((int)trail_.size()) - 1); i <= end; ++i)
trail_[i]->setVisible(true);
}
else
{
animating_ = false; // animation finished
scene_node_->setVisible(loop_display_property_->getBool() ||
(slider_panel_ && slider_panel_->isVisible()));
if (!loop_display_property_->getBool() && slider_panel_)
slider_panel_->pauseButton(true);
// ensure to render end state
@ -431,6 +435,12 @@ void TaskSolutionVisualization::update(float wall_dt, float ros_dt)
}
current_state_time_ += wall_dt;
}
// main scene node is visible if: animation, trail, or panel is shown
setVisibility(main_scene_node_, parent_scene_node_,
display_->isEnabled() && displaying_solution_ &&
(animating_ || trail_scene_node_->getParent() ||
(slider_panel_ && slider_panel_->isVisible())));
}
void TaskSolutionVisualization::renderWayPoint(size_t index, int previous_index)
@ -534,19 +544,24 @@ void TaskSolutionVisualization::sliderPanelVisibilityChange(bool enable)
if (!slider_panel_)
return;
if (enable)
if (enable) {
// also enable display
display_->setEnabled(true);
slider_panel_->onEnable();
else
} else
slider_panel_->onDisable();
scene_node_->setVisible(enable || animating_);
setVisibility(main_scene_node_, parent_scene_node_,
display_->isEnabled() && displaying_solution_ && enable);
}
void TaskSolutionVisualization::changedSceneEnabled()
{
if (scene_render_)
scene_render_->getGeometryNode()->setVisible(scene_enabled_property_->getBool());
if (!scene_render_)
return;
setVisibility(scene_render_->getGeometryNode(), main_scene_node_,
scene_enabled_property_->getBool());
}
void TaskSolutionVisualization::renderCurrentScene()
@ -555,4 +570,22 @@ void TaskSolutionVisualization::renderCurrentScene()
renderPlanningScene(displaying_solution_->scene(current_state_));
}
void TaskSolutionVisualization::setVisibility(Ogre::SceneNode *node, Ogre::SceneNode *parent, bool visible)
{
if (node != main_scene_node_ && !main_scene_node_->getParent())
return; // main scene node is detached
if (visible && node->getParent() != parent) {
parent->addChild(node);
// if main scene node became attached, also update visibility of other nodes
if (node == main_scene_node_) {
if (scene_render_)
setVisibility(scene_render_->getGeometryNode(), main_scene_node_,
scene_enabled_property_->getBool());
setVisibility(trail_scene_node_, main_scene_node_, loop_display_property_->getBool());
}
} else if (!visible && node->getParent())
node->getParent()->removeChild(node);
}
} // namespace moveit_rviz_plugin