This commit is contained in:
Robert Haschke 2017-11-13 01:32:04 +01:00
parent df1bbc5d32
commit d5627c0c39
2 changed files with 7 additions and 20 deletions

View File

@ -92,7 +92,6 @@ public:
* \return true on success * \return true on success
*/ */
TaskSolutionVisualization(rviz::Property* parent, rviz::Display* display); TaskSolutionVisualization(rviz::Property* parent, rviz::Display* display);
virtual ~TaskSolutionVisualization(); virtual ~TaskSolutionVisualization();
virtual void update(float wall_dt, float ros_dt); virtual void update(float wall_dt, float ros_dt);
@ -116,9 +115,7 @@ private Q_SLOTS:
void changedRobotCollisionEnabled(); void changedRobotCollisionEnabled();
void changedRobotAlpha(); void changedRobotAlpha();
void changedLoopDisplay(); void changedLoopDisplay();
void changedShowTrail(); void changedTrail();
void changedTrailStepSize();
void changedStateDisplayTime();
void changedRobotColor(); void changedRobotColor();
void enabledRobotColor(); void enabledRobotColor();
void changedAttachedBodyColor(); void changedAttachedBodyColor();

View File

@ -81,12 +81,12 @@ TaskSolutionVisualization::TaskSolutionVisualization(rviz::Property* parent, rvi
parent, SLOT(changedLoopDisplay()), this); parent, SLOT(changedLoopDisplay()), this);
trail_display_property_ = new rviz::BoolProperty("Show Trail", false, "Show a path trail", 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", state_display_time_property_ = new rviz::EditableEnumProperty("State Display Time", "0.05 s",
"The amount of wall-time to wait in between displaying " "The amount of wall-time to wait in between displaying "
"states along a received trajectory path", "states along a received trajectory path",
parent, SLOT(changedStateDisplayTime()), this); parent);
state_display_time_property_->addOptionStd("REALTIME"); state_display_time_property_->addOptionStd("REALTIME");
state_display_time_property_->addOptionStd("0.05 s"); state_display_time_property_->addOptionStd("0.05 s");
state_display_time_property_->addOptionStd("0.1 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, trail_step_size_property_ = new rviz::IntProperty("Trail Step Size", 1,
"Specifies the step size of the samples shown in the trajectory trail.", "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); trail_step_size_property_->setMin(1);
@ -243,7 +243,7 @@ void TaskSolutionVisualization::changedLoopDisplay()
slider_panel_->pauseButton(false); slider_panel_->pauseButton(false);
} }
void TaskSolutionVisualization::changedShowTrail() void TaskSolutionVisualization::changedTrail()
{ {
clearTrail(); clearTrail();
@ -274,12 +274,6 @@ void TaskSolutionVisualization::changedShowTrail()
} }
} }
void TaskSolutionVisualization::changedTrailStepSize()
{
if (trail_display_property_->getBool())
changedShowTrail();
}
void TaskSolutionVisualization::changedRobotAlpha() void TaskSolutionVisualization::changedRobotAlpha()
{ {
robot_render_->setAlpha(robot_alpha_property_->getFloat()); robot_render_->setAlpha(robot_alpha_property_->getFloat());
@ -301,10 +295,6 @@ void TaskSolutionVisualization::changedRobotCollisionEnabled()
trail_[i]->setCollisionVisible(robot_collision_enabled_property_->getBool()); trail_[i]->setCollisionVisible(robot_collision_enabled_property_->getBool());
} }
void TaskSolutionVisualization::changedStateDisplayTime()
{
}
void TaskSolutionVisualization::onEnable() void TaskSolutionVisualization::onEnable()
{ {
scene_node_->setVisible(displaying_solution_ && animating_); scene_node_->setVisible(displaying_solution_ && animating_);
@ -375,7 +365,7 @@ void TaskSolutionVisualization::update(float wall_dt, float ros_dt)
{ {
animating_ = true; animating_ = true;
displaying_solution_ = solution_to_display_; displaying_solution_ = solution_to_display_;
changedShowTrail(); changedTrail();
if (slider_panel_) if (slider_panel_)
slider_panel_->update(solution_to_display_->getWayPointCount()); slider_panel_->update(solution_to_display_->getWayPointCount());
} }
@ -502,7 +492,7 @@ void TaskSolutionVisualization::showTrajectory(const moveit_task_constructor_msg
if (!s->empty()) if (!s->empty())
{ {
boost::mutex::scoped_lock lock(display_solution_mutex_); boost::mutex::scoped_lock lock(display_solution_mutex_);
solution_to_display_.swap(s); solution_to_display_ = s;
if (interrupt_display_property_->getBool()) if (interrupt_display_property_->getBool())
interruptCurrentDisplay(); interruptCurrentDisplay();
} }