mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
cleanup
This commit is contained in:
parent
df1bbc5d32
commit
d5627c0c39
@ -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();
|
||||
|
||||
@ -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();
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user