From d5627c0c393f4108cc9da78bc1928c884ad42f5b Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Mon, 13 Nov 2017 01:32:04 +0100 Subject: [PATCH] cleanup --- .../task_solution_visualization.h | 5 +---- .../src/task_solution_visualization.cpp | 22 +++++-------------- 2 files changed, 7 insertions(+), 20 deletions(-) diff --git a/visualization/visualization_tools/include/moveit/visualization_tools/task_solution_visualization.h b/visualization/visualization_tools/include/moveit/visualization_tools/task_solution_visualization.h index 28a820f0..3e57940f 100644 --- a/visualization/visualization_tools/include/moveit/visualization_tools/task_solution_visualization.h +++ b/visualization/visualization_tools/include/moveit/visualization_tools/task_solution_visualization.h @@ -92,7 +92,6 @@ public: * \return true on success */ TaskSolutionVisualization(rviz::Property* parent, rviz::Display* display); - virtual ~TaskSolutionVisualization(); virtual void update(float wall_dt, float ros_dt); @@ -116,9 +115,7 @@ private Q_SLOTS: void changedRobotCollisionEnabled(); void changedRobotAlpha(); void changedLoopDisplay(); - void changedShowTrail(); - void changedTrailStepSize(); - void changedStateDisplayTime(); + void changedTrail(); void changedRobotColor(); void enabledRobotColor(); void changedAttachedBodyColor(); diff --git a/visualization/visualization_tools/src/task_solution_visualization.cpp b/visualization/visualization_tools/src/task_solution_visualization.cpp index b964e38f..8c5297df 100644 --- a/visualization/visualization_tools/src/task_solution_visualization.cpp +++ b/visualization/visualization_tools/src/task_solution_visualization.cpp @@ -81,12 +81,12 @@ TaskSolutionVisualization::TaskSolutionVisualization(rviz::Property* parent, rvi parent, SLOT(changedLoopDisplay()), this); trail_display_property_ = new rviz::BoolProperty("Show Trail", false, "Show a path trail", - parent, SLOT(changedShowTrail()), this); + parent, SLOT(changedTrail()), this); state_display_time_property_ = new rviz::EditableEnumProperty("State Display Time", "0.05 s", "The amount of wall-time to wait in between displaying " "states along a received trajectory path", - parent, SLOT(changedStateDisplayTime()), this); + parent); state_display_time_property_->addOptionStd("REALTIME"); state_display_time_property_->addOptionStd("0.05 s"); state_display_time_property_->addOptionStd("0.1 s"); @@ -94,7 +94,7 @@ TaskSolutionVisualization::TaskSolutionVisualization(rviz::Property* parent, rvi trail_step_size_property_ = new rviz::IntProperty("Trail Step Size", 1, "Specifies the step size of the samples shown in the trajectory trail.", - parent, SLOT(changedTrailStepSize()), this); + parent, SLOT(changedTrail()), this); trail_step_size_property_->setMin(1); @@ -243,7 +243,7 @@ void TaskSolutionVisualization::changedLoopDisplay() slider_panel_->pauseButton(false); } -void TaskSolutionVisualization::changedShowTrail() +void TaskSolutionVisualization::changedTrail() { clearTrail(); @@ -274,12 +274,6 @@ void TaskSolutionVisualization::changedShowTrail() } } -void TaskSolutionVisualization::changedTrailStepSize() -{ - if (trail_display_property_->getBool()) - changedShowTrail(); -} - void TaskSolutionVisualization::changedRobotAlpha() { robot_render_->setAlpha(robot_alpha_property_->getFloat()); @@ -301,10 +295,6 @@ void TaskSolutionVisualization::changedRobotCollisionEnabled() trail_[i]->setCollisionVisible(robot_collision_enabled_property_->getBool()); } -void TaskSolutionVisualization::changedStateDisplayTime() -{ -} - void TaskSolutionVisualization::onEnable() { scene_node_->setVisible(displaying_solution_ && animating_); @@ -375,7 +365,7 @@ void TaskSolutionVisualization::update(float wall_dt, float ros_dt) { animating_ = true; displaying_solution_ = solution_to_display_; - changedShowTrail(); + changedTrail(); if (slider_panel_) slider_panel_->update(solution_to_display_->getWayPointCount()); } @@ -502,7 +492,7 @@ void TaskSolutionVisualization::showTrajectory(const moveit_task_constructor_msg if (!s->empty()) { boost::mutex::scoped_lock lock(display_solution_mutex_); - solution_to_display_.swap(s); + solution_to_display_ = s; if (interrupt_display_property_->getBool()) interruptCurrentDisplay(); }