Visualization.hh
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void AddContactToMarkerMsg(ignition::msgs::Contact const &_contact, ignition::msgs::Marker &_contactsMarkerMsg)
Add a contact to the marker message representing the contacts from the contact sensor based on physic...
void RemoveNormalForcesAndContactsMarkers()
Remove all normal forces and contact markers.
void RequestNormalForcesMarkerMsgs(ignition::msgs::Marker &_positionMarkerMsg, ignition::msgs::Marker &_forceMarkerMsg)
Request the "/marker" service for the marker messages representing the normal forces.
void RequestContactsMarkerMsg(components::ContactSensorData const *_contacts)
Request the "/marker" service for the contacts marker.
STL class.
OpticalTactilePluginVisualization(std::string &_modelName, ignition::math::Vector3d &_sensorSize, double &_forceLength, float &_cameraUpdateRate, ignition::math::Pose3f &_depthCameraOffset, int &_visualizationResolution)
Constructor.
void AddNormalForceToMarkerMsgs(ignition::msgs::Marker &_positionMarkerMsg, ignition::msgs::Marker &_forceMarkerMsg, ignition::math::Vector3f &_position, ignition::math::Vector3f &_normalForce, ignition::math::Pose3f &_sensorWorldPose)
Create a marker messages representing the normal force computed from depth camera.
void RequestSensorMarkerMsg(ignition::math::Pose3f const &_sensorPose)
Request the "/marker" service for the sensor marker. This can be helpful when debbuging, given that there shouldn't be a visual tag in the plugin's model.
A component type that wraps any data type. The intention is for this class to be used to create simpl...
Definition: Component.hh:324
Definition: Visualization.hh:48
This library is part of the Ignition Robotics project.