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
*/
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();

View File

@ -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();
}