##

InertiaVisual Class Reference
Rendering

Basic Inertia visualization. More...

`#include <rendering/rendering.hh>`

Inherits Visual.

## Public Types

enum | VisualType { VT_ENTITY, VT_MODEL, VT_LINK, VT_VISUAL, VT_COLLISION, VT_SENSOR, VT_GUI, VT_PHYSICS }
| Type of visual. More...

## Public Member Functions

| InertiaVisual (const std::string &_name, VisualPtr _vis)
| Constructor. More...
| ~InertiaVisual ()
| Destructor. More...
void | AddPendingChild (std::pair< VisualType, const google::protobuf::Message * > _pair)
| Push a message for a child of this visual which hasn't been loaded yet. More...
ignition::math::Color | Ambient () const
| Get the ambient color of the visual. More...
void | AttachLineVertex (DynamicLines *_line, unsigned int _index)
| Attach a vertex of a line to the position of the visual. More...
Ogre::MovableObject * | AttachMesh (const std::string &_meshName, const std::string &_subMesh="", bool _centerSubmesh=false, const std::string &_objName="")
| Attach a mesh to this visual by name. More...
void | AttachObject (Ogre::MovableObject *_obj)
| Attach a renerable object to the visual. More...
void | AttachVisual (VisualPtr _vis)
| Attach a visual to this visual. More...
ignition::math::Box | BoundingBox () const
| Get the bounding box for the visual. More...
void | ClearParent ()
| Clear parents. More...
VisualPtr | Clone (const std::string &_name, VisualPtr _newParent)
| Clone the visual with a new name. More...
DynamicLines * | CreateDynamicLine (RenderOpType _type=RENDERING_LINE_STRIP)
| Add a line to the visual. More...
void | DeleteDynamicLine (DynamicLines *_line)
| Delete a dynamic line. More...
ignition::math::Vector3d | DerivedScale () const
| Get the scale of the visual as inherited from all parents. More...
float | DerivedTransparency () const
| Get the transparency of the visual as inherited from all parents. More...
void | DetachObjects ()
| Detach all objects. More...
void | DetachVisual (const std::string &_name)
| Detach a visual. More...
void | DetachVisual (VisualPtr _vis)
| Detach a visual. More...
ignition::math::Color | Diffuse () const
| Get the diffuse color of the visual. More...
void | DisableTrackVisual ()
| Disable tracking of a visual. More...
ignition::math::Color | Emissive () const
| Get the emissive color of the visual. More...
void | EnableTrackVisual (VisualPtr _vis)
| Set one visual to track/follow another. More...
void | FillMaterialMsg (ignition::msgs::Material &_msg) const
| Fill an ignition::msgs::Material message based on this visual's material properties. More...
virtual void | Fini ()
| Helper for the destructor. More...
common::Color | GetAmbient () const GAZEBO_DEPRECATED(9.0)
| Get the ambient color of the visual. More...
unsigned int | GetAttachedObjectCount () const
| Return the number of attached movable objects. More...
bool | GetCastShadows () const
| Get whether the visual casts shadows. More...
VisualPtr | GetChild (unsigned int _index)
| Get an attached visual based on an index. More...
unsigned int | GetChildCount ()
| Get the number of attached visuals. More...
unsigned int | GetDepth () const
| Get the depth of this visual, where 0 is the depth of the world visual. More...
common::Color | GetDiffuse () const GAZEBO_DEPRECATED(9.0)
| Get the diffuse color of the visual. More...
common::Color | GetEmissive () const GAZEBO_DEPRECATED(9.0)
| Get the emissive color of the visual. More...
ignition::math::Vector3d | GetGeometrySize () const
| Get the geometry size. More...
std::string | GetGeometryType () const
| Get the geometry type. More...
bool | GetHighlighted () const
| Get whether or not the visual is visually highlighted. More...
uint32_t | GetId () const
| Get the id associated with this visual. More...
bool | GetLighting () const
| Get whether or not lighting is enabled. More...
std::string | GetMaterialName () const
| Get the name of the material. More...
std::string | GetMeshName () const
| The name of the mesh set in the visual's SDF. More...
std::string | GetNormalMap () const
| Get the normal map. More...
VisualPtr | GetNthAncestor (unsigned int _n)
| Get the nth ancestor counting from the world visual. More...
VisualPtr | GetParent () const
| Get the parent visual, if one exists. More...
VisualPtr | GetRootVisual ()
| Get the root visual. More...
ScenePtr | GetScene () const
| Get current. More...
Ogre::SceneNode * | GetSceneNode () const
| Return the scene Node of this visual entity. More...
sdf::ElementPtr | GetSDF () const
| Get the visual SDF. More...
std::string | GetShaderType () const
| Get the shader type. More...
common::Color | GetSpecular () const GAZEBO_DEPRECATED(9.0)
| Get the specular color of the visual. More...
std::string | GetSubMeshName () const
| Get the name of the sub mesh set in the visual's SDF. More...
float | GetTransparency ()
| Get the transparency. More...
Visual::VisualType | GetType () const
| Get type of visual. More...
uint32_t | GetVisibilityFlags ()
| Get visibility flags for this visual and all children. More...
bool | GetVisible () const
| Get whether the visual is visible. More...
bool | HasAttachedObject (const std::string &_name)
| Returns true if an object with _name is attached. More...
bool | InheritTransparency () const
| Get whether this visual inherits transparency from parent. More...
void | Init ()
| Helper for the contructor. More...
ignition::math::Pose3d | InitialRelativePose () const
| Get the initial relative pose of the visual. More...
void | InsertMesh (const std::string &_meshName, const std::string &_subMesh="", bool _centerSubmesh=false)
| Insert a mesh into Ogre. More...
bool | IsAncestorOf (const rendering::VisualPtr _visual) const
| Check if this visual is an ancestor of another visual. More...
bool | IsDescendantOf (const rendering::VisualPtr _visual) const
| Check if this visual is a descendant of another visual. More...
bool | IsPlane () const
| Return true if the visual is a plane. More...
bool | IsStatic () const
| Return true if the visual is a static geometry. More...
virtual void | Load ()
| Load the visual with default parameters. More...
virtual void | Load ()
| Load the visual with default parameters. More...
virtual void | Load (ConstLinkPtr &_msg)
| Load from a message. More...
virtual void | Load (sdf::ElementPtr _elem)
| Load the Visual from an SDF pointer. More...
void | Load (sdf::ElementPtr _sdf)
| Load the visual with a set of parameters. More...
void | LoadFromMsg (ConstVisualPtr &_msg)
| Load from a message. More...
void | LoadPlugin (const std::string &_filename, const std::string &_name, sdf::ElementPtr _sdf)
| Load a plugin. More...
void | MakeStatic ()
| Make the visual objects static renderables. More...
void | MoveToPosition (const ignition::math::Pose3d &_pose, const double _time)
| Move to a pose and over a given time. More...
void | MoveToPositions (const std::vector< ignition::math::Pose3d > &_pts, const double _time, std::function< void()> _onComplete=nullptr)
| Move to a series of pose and over a given time. More...
std::string | Name () const
| Get the name of the visual. More...
ignition::math::Pose3d | Pose () const
| Get the pose of the visual. More...
ignition::math::Vector3d | Position () const
| Get the position of the visual. More...
void | RemovePlugin (const std::string &_name)
| Remove a running plugin. More...
ignition::math::Quaterniond | Rotation () const
| Get the rotation of the visual. More...
ignition::math::Vector3d | Scale () const
| Get the scale. More...
void | SetAmbient (const common::Color &_color, const bool _cascade=true) GAZEBO_DEPRECATED(9.0)
| Set the ambient color of the visual. More...
void | SetAmbient (const ignition::math::Color &_color, const bool _cascade=true)
| Set the ambient color of the visual. More...
void | SetCastShadows (bool _shadows)
| Set whether the visual should cast shadows. More...
void | SetDiffuse (const common::Color &_color, const bool _cascade=true) GAZEBO_DEPRECATED(9.0)
| Set the diffuse color of the visual. More...
void | SetDiffuse (const ignition::math::Color &_color, const bool _cascade=true)
| Set the diffuse color of the visual. More...
virtual void | SetEmissive (const common::Color &_color, const bool _cascade=true) GAZEBO_DEPRECATED(9.0)
| Set the emissive value. More...
virtual void | SetEmissive (const ignition::math::Color &_color, const bool _cascade=true)
| Set the emissive value. More...
virtual void | SetHighlighted (bool _highlighted)
| Set the visual to be visually highlighted. More...
void | SetId (uint32_t _id)
| Set the id associated with this visual. More...
void | SetInheritTransparency (const bool _inherit)
| Set whether to inherit transparency from parent. More...
void | SetLayer (const int32_t _layer)
| Set the layer this visual belongs to. More...
void | SetLighting (bool _lighting)
| Set whether or not to enable or disable lighting. More...
void | SetMaterial (const std::string &_materialName, bool _unique=true, const bool _cascade=true)
| Set the material. More...
void | SetMaterialShaderParam (const std::string &_paramName, const std::string &_shaderType, const std::string &_value)
| Set a shader program parameter associated to this visual's material. More...
void | SetName (const std::string &_name)
| Set the name of the visual. More...
void | SetNormalMap (const std::string &_nmap)
| Set the normal map. More...
void | SetPose (const ignition::math::Pose3d &_pose)
| Set the pose of the visual. More...
void | SetPosition (const ignition::math::Vector3d &_pos)
| Set the position of the visual. More...
void | SetRibbonTrail (bool _value, const common::Color &_initialColor, const common::Color &_changeColor) GAZEBO_DEPRECATED(9.0)
| True on or off a ribbon trail. More...
void | SetRibbonTrail (bool _value, const ignition::math::Color &_initialColor, const ignition::math::Color &_changeColor)
| True on or off a ribbon trail. More...
void | SetRotation (const ignition::math::Quaterniond &_rot)
| Set the rotation of the visual. More...
void | SetScale (const ignition::math::Vector3d &_scale)
| Set the scale. More...
void | SetScene (ScenePtr _scene)
| Set current scene. More...
void | SetShaderType (const std::string &_type)
| Set the shader type for the visual's material. More...
void | SetSkeletonPose (const msgs::PoseAnimation &_pose)
| Set animation skeleton pose. More...
void | SetSpecular (const common::Color &_color, const bool _cascade=true) GAZEBO_DEPRECATED(9.0)
| Set the specular color of the visual. More...
void | SetSpecular (const ignition::math::Color &_color, const bool _cascade=true)
| Set the specular color of the visual. More...
void | SetTransparency (float _trans)
| Set the transparency. More...
void | SetType (const Visual::VisualType _type)
| Set type of visual. More...
void | SetTypeMsg (const google::protobuf::Message *_msg)
| Set a message specific for this visual type. More...
void | SetVisibilityFlags (uint32_t _flags)
| Set visibility flags for this visual and all children. More...
virtual void | SetVisible (bool _visible, bool _cascade=true)
| Set whether the visual is visible. More...
void | SetWireframe (bool _show)
| Enable or disable wireframe for this visual. More...
void | SetWorldPose (const ignition::math::Pose3d &_pose)
| Set the world pose of the visual. More...
void | SetWorldPosition (const ignition::math::Vector3d &_pos)
| Set the world linear position of the visual. More...
void | SetWorldRotation (const ignition::math::Quaterniond &_rot)
| Set the world orientation of the visual. More...
void | ShowBoundingBox ()
| Display the bounding box visual. More...
void | ShowCollision (bool _show)
| Display the collision visuals. More...
void | ShowCOM (bool _show)
| Display Center of Mass visuals. More...
void | ShowInertia (bool _show)
| Display inertia visuals. More...
void | ShowJoints (bool _show)
| Display joint visuals. More...
void | ShowLinkFrame (bool _show)
| Display link frame visuals. More...
void | ShowSkeleton (bool _show)
| Display the skeleton visuals. More...
ignition::math::Color | Specular () const
| Get the specular color of the visual. More...
void | ToggleLayer (const int32_t _layer)
| Toggle layer visibility. More...
void | ToggleVisible ()
| Toggle whether this visual is visible. More...
void | Update ()
| Update the visual. More...
void | UpdateFromMsg (ConstVisualPtr &_msg)
| Update a visual based on a message. More...
bool | UseRTShader () const
| Get whether this visual uses RT shader system. More...
bool | Wireframe () const
| Get whether wireframe is enabled for this visual. More...
ignition::math::Pose3d | WorldPose () const
| Get the global pose of the visual. More...

## Static Public Member Functions

static Visual::VisualType | ConvertVisualType (const msgs::Visual::Type &_type)
| Convert from msgs::Visual::Type to VisualType. More...
static msgs::Visual::Type | ConvertVisualType (const Visual::VisualType &_type)
| Convert from msgs::Visual::Type to VisualType. More...
static void | InsertMesh (const common::Mesh *_mesh, const std::string &_subMesh="", bool _centerSubmesh=false)
| Insert a mesh into Ogre. More...

## Protected Member Functions

void | ProcessMaterialMsg (const ignition::msgs::Material &_msg)
| Process a material message. More...

## Protected Attributes

VisualPrivate * | dataPtr

## Detailed Description

Basic Inertia visualization.

## Member Enumeration Documentation

## VisualType

enum VisualType

inherited

Type of visual.

Todo:
  Move this to RenderingTypes.hh

Enumerator
VT_ENTITY | Entity visual.
VT_MODEL | Model visual.
VT_LINK | Link visual.
VT_VISUAL | Visual visual.
VT_COLLISION | Collision visual.
VT_SENSOR | Sensor visual.
VT_GUI | GUI visual.
VT_PHYSICS | Physics data visual.

## Constructor & Destructor Documentation

## InertiaVisual()

InertiaVisual | ( | const std::string & | _name,
|  | VisualPtr | _vis
| ) |  |

Constructor.

Parameters

  [in] | _name | Name of the Visual
  [in] | _vis | Parent Visual

## ~InertiaVisual()

~InertiaVisual | ( |  | ) |

Destructor.

## Member Function Documentation

## AddPendingChild()

void AddPendingChild | ( | std::pair< VisualType, const google::protobuf::Message * > | _pair | ) |

inherited

Push a message for a child of this visual which hasn't been loaded yet.

Parameters

  [in] | _pair | Pair with the child visual type and the message for the child.

## Ambient()

ignition::math::Color Ambient | ( |  | ) | const

inherited

Get the ambient color of the visual.

Returns
  Ambient color.

## AttachLineVertex()

void AttachLineVertex | ( | DynamicLines * | _line,
|  | unsigned int | _index
| ) |  |

inherited

Attach a vertex of a line to the position of the visual.

Parameters

  [in] | _line | Line to attach to this visual.
  [in] | _index | Index of the line vertex to attach.

## AttachMesh()

Ogre::MovableObject* AttachMesh | ( | const std::string & | _meshName,
|  | const std::string & | _subMesh = `""`,
|  | bool | _centerSubmesh = `false`,
|  | const std::string & | _objName = `""`
| ) |  |

inherited

Attach a mesh to this visual by name.

Parameters

  [in] | _meshName | Name of the mesh.
  [in] | _subMesh | Name of the submesh. Empty string to use all submeshes.
  [in] | _centerSubmesh | True to center a submesh.
  [in] | _objName | Name of the attached Object to put the mesh onto.

## AttachObject()

void AttachObject | ( | Ogre::MovableObject * | _obj | ) |

inherited

Attach a renerable object to the visual.

Parameters

  [in] | _obj | A movable object to attach to the visual.

## AttachVisual()

void AttachVisual | ( | VisualPtr | _vis | ) |

inherited

Attach a visual to this visual.

Parameters

  [in] | _vis | Visual to attach.

## BoundingBox()

ignition::math::Box BoundingBox | ( |  | ) | const

inherited

Get the bounding box for the visual.

Returns
  The bounding box in world coordinates.

## ClearParent()

void ClearParent | ( |  | ) |

inherited

Clear parents.

## Clone()

VisualPtr Clone | ( | const std::string & | _name,
|  | VisualPtr | _newParent
| ) |  |

inherited

Clone the visual with a new name.

Parameters

  [in] | _name | Name of the cloned Visual.
  [in] | _newParent | Parent of the cloned Visual.

Returns
  The visual.

## ConvertVisualType() [1/2]

static Visual::VisualType ConvertVisualType | ( | const msgs::Visual::Type & | _type | ) |

static inherited

Convert from msgs::Visual::Type to VisualType.

Parameters

  [in] | _type | A msgs::Visual::Type enum.

Returns
  VisualType enum.

## ConvertVisualType() [2/2]

static msgs::Visual::Type ConvertVisualType | ( | const Visual::VisualType & | _type | ) |

static inherited

Convert from msgs::Visual::Type to VisualType.

Parameters

  [in] | _type | VisualType enum.

Returns
  A msgs::Visual::Type enum.

## CreateDynamicLine()

DynamicLines* CreateDynamicLine | ( | RenderOpType | _type = `RENDERING_LINE_STRIP` | ) |

inherited

Add a line to the visual.

Parameters

  [in] | _type | The type of line to make.

Returns
  A pointer to the new dynamic line.

## DeleteDynamicLine()

void DeleteDynamicLine | ( | DynamicLines * | _line | ) |

inherited

Delete a dynamic line.

Parameters

  [in] | _line | Pointer to the line to delete.

## DerivedScale()

ignition::math::Vector3d DerivedScale | ( |  | ) | const

inherited

Get the scale of the visual as inherited from all parents.

Returns
  The derived scaling factor.

## DerivedTransparency()

float DerivedTransparency | ( |  | ) | const

inherited

Get the transparency of the visual as inherited from all parents.

Returns
  The derived transparency.

## DetachObjects()

void DetachObjects | ( |  | ) |

inherited

Detach all objects.

## DetachVisual() [1/2]

void DetachVisual | ( | const std::string & | _name | ) |

inherited

Detach a visual.

Parameters

  [in] | _name | Name of the visual to detach.

## DetachVisual() [2/2]

void DetachVisual | ( | VisualPtr | _vis | ) |

inherited

Detach a visual.

Parameters

  [in] | _vis | Visual to detach.

## Diffuse()

ignition::math::Color Diffuse | ( |  | ) | const

inherited

Get the diffuse color of the visual.

Returns
  Diffuse color.

## DisableTrackVisual()

void DisableTrackVisual | ( |  | ) |

inherited

Disable tracking of a visual.

## Emissive()

ignition::math::Color Emissive | ( |  | ) | const

inherited

Get the emissive color of the visual.

Returns
  Emissive color.

## EnableTrackVisual()

void EnableTrackVisual | ( | VisualPtr | _vis | ) |

inherited

Set one visual to track/follow another.

Parameters

  [in] | _vis | Visual to track.

## FillMaterialMsg()

void FillMaterialMsg | ( | ignition::msgs::Material & | _msg | ) | const

inherited

Fill an ignition::msgs::Material message based on this visual's material properties.

Parameters

  [out] | _msg | Ignition message to fill.

## Fini()

virtual void Fini | ( |  | ) |

virtual inherited

Helper for the destructor.

Reimplemented in ApplyWrenchVisual, CameraVisual, WrenchVisual, JointVisual, and LogicalCameraVisual.

## GetAmbient()

common::Color GetAmbient | ( |  | ) | const

inherited

Get the ambient color of the visual.

Returns
  Ambient color.

Deprecated:
  use ignition::math::Color instead

## GetAttachedObjectCount()

unsigned int GetAttachedObjectCount | ( |  | ) | const

inherited

Return the number of attached movable objects.

Returns
  The number of attached movable objects.

## GetCastShadows()

bool GetCastShadows | ( |  | ) | const

inherited

Get whether the visual casts shadows.

Returns
  True if the visual casts shadows.

## GetChild()

VisualPtr GetChild | ( | unsigned int | _index | ) |

inherited

Get an attached visual based on an index.

Index should be between 0 and Visual::GetChildCount.

Parameters

  [in] | _index | Index of the child to retreive.

Returns
  Pointer to the child visual, NULL if index is invalid.

## GetChildCount()

unsigned int GetChildCount | ( |  | ) |

inherited

Get the number of attached visuals.

Returns
  The number of children.

## GetDepth()

unsigned int GetDepth | ( |  | ) | const

inherited

Get the depth of this visual, where 0 is the depth of the world visual.

Returns
  This visual's depth.

## GetDiffuse()

common::Color GetDiffuse | ( |  | ) | const

inherited

Get the diffuse color of the visual.

Returns
  Diffuse color.

Deprecated:
  use ignition::math::Color instead

## GetEmissive()

common::Color GetEmissive | ( |  | ) | const

inherited

Get the emissive color of the visual.

Returns
  Emissive color.

Deprecated:
  use ignition::math::Color instead

## GetGeometrySize()

ignition::math::Vector3d GetGeometrySize | ( |  | ) | const

inherited

Get the geometry size.

Returns
  Size of geometry.

## GetGeometryType()

std::string GetGeometryType | ( |  | ) | const

inherited

Get the geometry type.

Returns
  Type of geometry in string.

## GetHighlighted()

bool GetHighlighted | ( |  | ) | const

inherited

Get whether or not the visual is visually highlighted.

This is most often means that an object is selected by a user via the GUI.

Returns
  True if the visual is highlighted.

## GetId()

uint32_t GetId | ( |  | ) | const

inherited

Get the id associated with this visual.

## GetLighting()

bool GetLighting | ( |  | ) | const

inherited

Get whether or not lighting is enabled.

Returns
  True if lighting is enabled.

## GetMaterialName()

std::string GetMaterialName | ( |  | ) | const

inherited

Get the name of the material.

Returns
  The name of the visual applied to this visual.

## GetMeshName()

std::string GetMeshName | ( |  | ) | const

inherited

The name of the mesh set in the visual's SDF.

Returns
  Name of the mesh.

## GetNormalMap()

std::string GetNormalMap | ( |  | ) | const

inherited

Get the normal map.

Returns
  The name of the normal map material.

## GetNthAncestor()

VisualPtr GetNthAncestor | ( | unsigned int | _n | ) |

inherited

Get the nth ancestor counting from the world visual.

GetNthAncestor(0) returns the world visual. GetNthAncestor(1) returns the RootVisual. GetNthAncestor(2) returns the ancestor which is a child of the root visual and so on.

Parameters

  [in] | _n | Depth of the ancestor.

Returns
  The nth ancestor counting from the world.

## GetParent()

VisualPtr GetParent | ( |  | ) | const

inherited

Get the parent visual, if one exists.

Returns
  Pointer to the parent visual, NULL if no parent.

## GetRootVisual()

VisualPtr GetRootVisual | ( |  | ) |

inherited

Get the root visual.

Returns
  The root visual, which is one level below the world visual.

## GetScene()

ScenePtr GetScene | ( |  | ) | const

inherited

Get current.

Returns
  Pointer to the scene.

## GetSceneNode()

Ogre::SceneNode* GetSceneNode | ( |  | ) | const

inherited

Return the scene Node of this visual entity.

Returns
  The Ogre scene node.

## GetSDF()

sdf::ElementPtr GetSDF | ( |  | ) | const

inherited

Get the visual SDF.

Note that visuals are abstract. This SDF could be associated with a visual that represents a model, a link, a visual (inside a link), or a visualization object (e.g. LaserVisual). Therefore this SDF may store more fields than actually used.

Returns
  SDF of the visual.

## GetShaderType()

std::string GetShaderType | ( |  | ) | const

inherited

Get the shader type.

Returns
  String of the shader type: "vertex", "pixel", "normal_map_object_space", "normal_map_tangent_space".

## GetSpecular()

common::Color GetSpecular | ( |  | ) | const

inherited

Get the specular color of the visual.

Returns
  Specular color.

Deprecated:
  use ignition::math::Color instead

## GetSubMeshName()

std::string GetSubMeshName | ( |  | ) | const

inherited

Get the name of the sub mesh set in the visual's SDF.

Returns
  Name of the submesh. Empty string if no submesh is specified.

## GetTransparency()

float GetTransparency | ( |  | ) |

inherited

Get the transparency.

Returns
  The transparency.

## GetType()

Visual::VisualType GetType | ( |  | ) | const

inherited

Get type of visual.

Returns
  Visual type.

## GetVisibilityFlags()

uint32_t GetVisibilityFlags | ( |  | ) |

inherited

Get visibility flags for this visual and all children.

Returns
  The visiblity flags.

See also
  GZ_VISIBILITY_ALL
  GZ_VISIBILITY_GUI
  GZ_VISIBILITY_SELECTABLE

## GetVisible()

bool GetVisible | ( |  | ) | const

inherited

Get whether the visual is visible.

Returns
  True if the visual is visible.

## HasAttachedObject()

bool HasAttachedObject | ( | const std::string & | _name | ) |

inherited

Returns true if an object with _name is attached.

Parameters

  [in] | _name | Name of an object to find.

## InheritTransparency()

bool InheritTransparency | ( |  | ) | const

inherited

Get whether this visual inherits transparency from parent.

Returns
  True if the visual inherits transparency.

## Init()

void Init | ( |  | ) |

inherited

Helper for the contructor.

## InitialRelativePose()

ignition::math::Pose3d InitialRelativePose | ( |  | ) | const

inherited

Get the initial relative pose of the visual.

Returns
  The visual's initial relative pose.

## InsertMesh() [1/2]

static void InsertMesh | ( | const common::Mesh * | _mesh,
|  | const std::string & | _subMesh = `""`,
|  | bool | _centerSubmesh = `false`
| ) |  |

static inherited

Insert a mesh into Ogre.

Parameters

  [in] | _mesh | Pointer to the mesh to insert.
  [in] | _subMesh | Name of the mesh within _meshName to insert.
  [in] | _centerSubmesh | True to center the submesh.

## InsertMesh() [2/2]

void InsertMesh | ( | const std::string & | _meshName,
|  | const std::string & | _subMesh = `""`,
|  | bool | _centerSubmesh = `false`
| ) |  |

inherited

Insert a mesh into Ogre.

Parameters

  [in] | _meshName | Name of the mesh to insert.
  [in] | _subMesh | Name of the mesh within _meshName to insert.
  [in] | _centerSubmesh | True to center the submesh.

## IsAncestorOf()

bool IsAncestorOf | ( | const rendering::VisualPtr | _visual | ) | const

inherited

Check if this visual is an ancestor of another visual.

Parameters

  [in] | _visual | The other visual.

Returns
  True if this visual is an ancestor.

## IsDescendantOf()

bool IsDescendantOf | ( | const rendering::VisualPtr | _visual | ) | const

inherited

Check if this visual is a descendant of another visual.

Parameters

  [in] | _visual | The other visual.

Returns
  True if this visual is a descendant.

## IsPlane()

bool IsPlane | ( |  | ) | const

inherited

Return true if the visual is a plane.

Returns
  True if a plane.

## IsStatic()

bool IsStatic | ( |  | ) | const

inherited

Return true if the visual is a static geometry.

Returns
  True if the visual is static.

## Load() [1/5]

virtual void Load

Load the visual with default parameters.

## Load() [2/5]

virtual void Load | ( |  | ) |

virtual inherited

Load the visual with default parameters.

Reimplemented in SelectionObj, ApplyWrenchVisual, SonarVisual, TransmitterVisual, AxisVisual, LinkFrameVisual, OriginVisual, and ArrowVisual.

## Load() [3/5]

virtual void Load | ( | ConstLinkPtr & | _msg | ) |

virtual

Load from a message.

Parameters

  [in] | _msg | Pointer to the message

## Load() [4/5]

virtual void Load | ( | sdf::ElementPtr | _elem | ) |

virtual

Load the Visual from an SDF pointer.

Parameters

  [in] | _elem | SDF Element pointer

## Load() [5/5]

void Load

Load the visual with a set of parameters.

Parameters

  [in] | _sdf | Load from an SDF element.

## LoadFromMsg()

void LoadFromMsg | ( | ConstVisualPtr & | _msg | ) |

inherited

Load from a message.

Parameters

  [in] | _msg | A visual message.

## LoadPlugin()

void LoadPlugin | ( | const std::string & | _filename,
|  | const std::string & | _name,
|  | sdf::ElementPtr | _sdf
| ) |  |

inherited

Load a plugin.

Parameters

  _filename | The filename of the plugin
  _name | A unique name for the plugin
  _sdf | The SDF to pass into the plugin.

## MakeStatic()

void MakeStatic | ( |  | ) |

inherited

Make the visual objects static renderables.

## MoveToPosition()

void MoveToPosition | ( | const ignition::math::Pose3d & | _pose,
|  | const double | _time
| ) |  |

inherited

Move to a pose and over a given time.

Parameters

  [in] | _pose | Pose the visual will end at.
  [in] | _time | Time it takes the visual to move to the pose.

## MoveToPositions()

void MoveToPositions | ( | const std::vector< ignition::math::Pose3d > & | _pts,
|  | const double | _time,
|  | std::function< void()> | _onComplete = `nullptr`
| ) |  |

inherited

Move to a series of pose and over a given time.

Parameters

  [in] | _poses | Series of poses the visual will move to.
  [in] | _time | Time it takes the visual to move to the pose.
  [in] | _onComplete | Callback used when the move is complete.

## Name()

std::string Name | ( |  | ) | const

inherited

Get the name of the visual.

Returns
  The name of the visual.

## Pose()

ignition::math::Pose3d Pose | ( |  | ) | const

inherited

Get the pose of the visual.

Returns
  The Visual's pose.

## Position()

ignition::math::Vector3d Position | ( |  | ) | const

inherited

Get the position of the visual.

Returns
  The visual's position.

## ProcessMaterialMsg()

void ProcessMaterialMsg | ( | const ignition::msgs::Material & | _msg | ) |

protected inherited

Process a material message.

Parameters

  [in] | _msg | The ignition material message.

## RemovePlugin()

void RemovePlugin | ( | const std::string & | _name | ) |

inherited

Remove a running plugin.

Parameters

  _name | The unique name of the plugin to remove

## Rotation()

ignition::math::Quaterniond Rotation | ( |  | ) | const

inherited

Get the rotation of the visual.

Returns
  The visual's rotation.

## Scale()

ignition::math::Vector3d Scale | ( |  | ) | const

inherited

Get the scale.

Returns
  The scaling factor.

## SetAmbient() [1/2]

void SetAmbient | ( | const common::Color & | _color,
|  | const bool | _cascade = `true`
| ) |  |

inherited

Set the ambient color of the visual.

Parameters

  [in] | _color | The ambient color.
  [in] | _cascade | Whether to set this parameter in children too.

Deprecated:
  use ignition::math::Color instead

## SetAmbient() [2/2]

void SetAmbient | ( | const ignition::math::Color & | _color,
|  | const bool | _cascade = `true`
| ) |  |

inherited

Set the ambient color of the visual.

Parameters

  [in] | _color | The ambient color.
  [in] | _cascade | Whether to set this parameter in children too.

## SetCastShadows()

void SetCastShadows | ( | bool | _shadows | ) |

inherited

Set whether the visual should cast shadows.

Parameters

  [in] | _shadows | True to enable shadows.

## SetDiffuse() [1/2]

void SetDiffuse | ( | const common::Color & | _color,
|  | const bool | _cascade = `true`
| ) |  |

inherited

Set the diffuse color of the visual.

Parameters

  [in] | _color | Set the diffuse color.
  [in] | _cascade | Whether to set this parameter in children too.

Deprecated:
  use ignition::math::Color instead

## SetDiffuse() [2/2]

void SetDiffuse | ( | const ignition::math::Color & | _color,
|  | const bool | _cascade = `true`
| ) |  |

inherited

Set the diffuse color of the visual.

Parameters

  [in] | _color | Set the diffuse color.
  [in] | _cascade | Whether to set this parameter in children too.

## SetEmissive() [1/2]

virtual void SetEmissive | ( | const common::Color & | _color,
|  | const bool | _cascade = `true`
| ) |  |

virtual inherited

Set the emissive value.

Parameters

  [in] | _color | The emissive color.
  [in] | _cascade | Whether to set this parameter in children too.

Deprecated:
  use ignition::math::Color instead

## SetEmissive() [2/2]

virtual void SetEmissive | ( | const ignition::math::Color & | _color,
|  | const bool | _cascade = `true`
| ) |  |

virtual inherited

Set the emissive value.

Parameters

  [in] | _color | The emissive color.
  [in] | _cascade | Whether to set this parameter in children too.

Reimplemented in LaserVisual.

## SetHighlighted()

virtual void SetHighlighted | ( | bool | _highlighted | ) |

virtual inherited

Set the visual to be visually highlighted.

This is most often used when an object is selected by a user via the GUI.

Parameters

  [in] | _highlighted | True to enable the highlighting.

Reimplemented in LinkFrameVisual.

## SetId()

void SetId | ( | uint32_t | _id | ) |

inherited

Set the id associated with this visual.

## SetInheritTransparency()

void SetInheritTransparency | ( | const bool | _inherit | ) |

inherited

Set whether to inherit transparency from parent.

Parameters

  [in] | _inherit | True to inherit transparency.

## SetLayer()

void SetLayer | ( | const int32_t | _layer | ) |

inherited

Set the layer this visual belongs to.

Parameters

  [in] | _layer | Index of the layer.

## SetLighting()

void SetLighting | ( | bool | _lighting | ) |

inherited

Set whether or not to enable or disable lighting.

Parameters

  [in] | _lighting | True to enable lighting.

## SetMaterial()

void SetMaterial | ( | const std::string & | _materialName,
|  | bool | _unique = `true`,
|  | const bool | _cascade = `true`
| ) |  |

inherited

Set the material.

Parameters

  [in] | _materialName | The name of the material.
  [in] | _unique | True to make the material unique, which allows the material to change without changing materials that originally had the same name.
  [in] | _cascade | Whether to set this parameter in children too.

## SetMaterialShaderParam()

void SetMaterialShaderParam | ( | const std::string & | _paramName,
|  | const std::string & | _shaderType,
|  | const std::string & | _value
| ) |  |

inherited

Set a shader program parameter associated to this visual's material.

Parameters

  [in] | _paramName | Name of shader parameter
  [in] | _shaderType | Type of shader. Supported types: vertex, fragment
  [in] | _value | Value to set the parameter to. The value string can be a number (int, float) or a space delimited array of numbers (floats). The value type must match the type defined in the shaders. Note: Setting vec2/float2 params is only supported in ogre1.9+

## SetName()

void SetName | ( | const std::string & | _name | ) |

inherited

Set the name of the visual.

Parameters

  [in] | _name | Name of the visual

## SetNormalMap()

void SetNormalMap | ( | const std::string & | _nmap | ) |

inherited

Set the normal map.

Parameters

  [in] | _nmap | Name of the normal map material.

## SetPose()

void SetPose | ( | const ignition::math::Pose3d & | _pose | ) |

inherited

Set the pose of the visual.

Parameters

  [in] | _pose | The new pose of the visual.

## SetPosition()

void SetPosition | ( | const ignition::math::Vector3d & | _pos | ) |

inherited

Set the position of the visual.

Parameters

  [in] | _pos | The position to set the visual to.

## SetRibbonTrail() [1/2]

void SetRibbonTrail | ( | bool | _value,
|  | const common::Color & | _initialColor,
|  | const common::Color & | _changeColor
| ) |  |

inherited

True on or off a ribbon trail.

Parameters

  [in] | _value | True to enable ribbon trail.
  [in] | _initialColor | The initial color of the ribbon trail.
  [in] | _changeColor | Color to change too as the trail grows.

Deprecated:
  use ignition::math::Color instead

## SetRibbonTrail() [2/2]

void SetRibbonTrail | ( | bool | _value,
|  | const ignition::math::Color & | _initialColor,
|  | const ignition::math::Color & | _changeColor
| ) |  |

inherited

True on or off a ribbon trail.

Parameters

  [in] | _value | True to enable ribbon trail.
  [in] | _initialColor | The initial color of the ribbon trail.
  [in] | _changeColor | Color to change too as the trail grows.

## SetRotation()

void SetRotation | ( | const ignition::math::Quaterniond & | _rot | ) |

inherited

Set the rotation of the visual.

Parameters

  [in] | _rot | The rotation of the visual.

## SetScale()

void SetScale | ( | const ignition::math::Vector3d & | _scale | ) |

inherited

Set the scale.

Parameters

  [in] | _scale | The scaling factor for the visual.

## SetScene()

void SetScene | ( | ScenePtr | _scene | ) |

inherited

Set current scene.

Parameters

  [in] | _scene | Pointer to the scene.

## SetShaderType()

void SetShaderType | ( | const std::string & | _type | ) |

inherited

Set the shader type for the visual's material.

Parameters

  [in] | _type | Shader type string: "vertex", "pixel", "normal_map_object_space", "normal_map_tangent_space".

## SetSkeletonPose()

void SetSkeletonPose | ( | const msgs::PoseAnimation & | _pose | ) |

inherited

Set animation skeleton pose.

Parameters

  [in] | _pose | Skelton message

## SetSpecular() [1/2]

void SetSpecular | ( | const common::Color & | _color,
|  | const bool | _cascade = `true`
| ) |  |

inherited

Set the specular color of the visual.

Parameters

  [in] | _color | Specular color.
  [in] | _cascade | Whether to set this parameter in children too.

Deprecated:
  use ignition::math::Color instead

## SetSpecular() [2/2]

void SetSpecular | ( | const ignition::math::Color & | _color,
|  | const bool | _cascade = `true`
| ) |  |

inherited

Set the specular color of the visual.

Parameters

  [in] | _color | Specular color.
  [in] | _cascade | Whether to set this parameter in children too.

## SetTransparency()

void SetTransparency | ( | float | _trans | ) |

inherited

Set the transparency.

Parameters

  [in] | _trans | The transparency, between 0 and 1 where 0 is no transparency.

## SetType()

void SetType | ( | const Visual::VisualType | _type | ) |

inherited

Set type of visual.

Parameters

  [in] | _type | Visual type.

## SetTypeMsg()

void SetTypeMsg | ( | const google::protobuf::Message * | _msg | ) |

inherited

Set a message specific for this visual type.

For example, a link visual will have a link message.

Parameters

  [in] | _msg | Message for this visual.

## SetVisibilityFlags()

void SetVisibilityFlags | ( | uint32_t | _flags | ) |

inherited

Set visibility flags for this visual and all children.

Parameters

  [in] | _flags | The visiblity flags.

See also
  GZ_VISIBILITY_ALL
  GZ_VISIBILITY_GUI
  GZ_VISIBILITY_SELECTABLE

## SetVisible()

virtual void SetVisible | ( | bool | _visible,
|  | bool | _cascade = `true`
| ) |  |

virtual inherited

Set whether the visual is visible.

Parameters

  [in] | _visible | set this visual visible.
  [in] | _cascade | setting this parameter in children too.

Reimplemented in JointVisual, and ArrowVisual.

## SetWireframe()

void SetWireframe | ( | bool | _show | ) |

inherited

Enable or disable wireframe for this visual.

Parameters

  [in] | _show | True to enable wireframe for this visual.

## SetWorldPose()

void SetWorldPose | ( | const ignition::math::Pose3d & | _pose | ) |

inherited

Set the world pose of the visual.

Parameters

  [in] | _pose | Pose of the visual in the world coordinate frame.

## SetWorldPosition()

void SetWorldPosition | ( | const ignition::math::Vector3d & | _pos | ) |

inherited

Set the world linear position of the visual.

Parameters

  [in] | _pose | Position in the world coordinate frame.

## SetWorldRotation()

void SetWorldRotation | ( | const ignition::math::Quaterniond & | _rot | ) |

inherited

Set the world orientation of the visual.

Parameters

  [in] | _rot | Rotation in the world coordinate frame.

## ShowBoundingBox()

void ShowBoundingBox | ( |  | ) |

inherited

Display the bounding box visual.

## ShowCollision()

void ShowCollision | ( | bool | _show | ) |

inherited

Display the collision visuals.

Parameters

  [in] | _show | True to show visuals labeled as collision objects.

## ShowCOM()

void ShowCOM | ( | bool | _show | ) |

inherited

Display Center of Mass visuals.

Parameters

  [in] | _show | True to show center of mass visualizations.

## ShowInertia()

void ShowInertia | ( | bool | _show | ) |

inherited

Display inertia visuals.

Parameters

  [in] | _show | True to show inertia visualizations.

## ShowJoints()

void ShowJoints | ( | bool | _show | ) |

inherited

Display joint visuals.

Parameters

  [in] | _show | True to show joint visualizations.

## ShowLinkFrame()

void ShowLinkFrame | ( | bool | _show | ) |

inherited

Display link frame visuals.

Parameters

  [in] | _show | True to show link frame visualizations.

## ShowSkeleton()

void ShowSkeleton | ( | bool | _show | ) |

inherited

Display the skeleton visuals.

Parameters

  [in] | _show | True to show skeleton visuals.

## Specular()

ignition::math::Color Specular | ( |  | ) | const

inherited

Get the specular color of the visual.

Returns
  Specular color.

## ToggleLayer()

void ToggleLayer | ( | const int32_t | _layer | ) |

inherited

Toggle layer visibility.

If the visual is on the specified layer its visibility will be toggled.

Parameters

  [in] | _layer | Index of the layer to toggle.

## ToggleVisible()

void ToggleVisible | ( |  | ) |

inherited

Toggle whether this visual is visible.

## Update()

void Update | ( |  | ) |

inherited

Update the visual.

## UpdateFromMsg()

void UpdateFromMsg | ( | ConstVisualPtr & | _msg | ) |

inherited

Update a visual based on a message.

Parameters

  [in] | _msg | The visual message.

## UseRTShader()

bool UseRTShader | ( |  | ) | const

inherited

Get whether this visual uses RT shader system.

Returns
  True if RT shader is used.

## Wireframe()

bool Wireframe | ( |  | ) | const

inherited

Get whether wireframe is enabled for this visual.

Returns
  True if wireframe is enabled for this visual.

## WorldPose()

ignition::math::Pose3d WorldPose | ( |  | ) | const

inherited

Get the global pose of the visual.

Returns
  The pose in the world coordinate frame.

## Member Data Documentation

## dataPtr

VisualPrivate* dataPtr

protected inherited

The documentation for this class was generated from the following file:

- InertiaVisual.hh