Detailed Description

template<typename T>
class delphyne::BoxCarVis< T >

BoxCarVis displays a box as the visual representation of a vehicle.

Instantiated templates for the following kinds of T's are provided:

double

They are already available to link against in the containing library.

#include <src/visualization/box_car_vis.h>

Inheritance diagram for BoxCarVis< T >:

Public Member Functions
	BoxCarVis (int model_instance_id, const std::string &name)

const std::vector< drake::lcmt_viewer_link_data > &	GetVisElements () const override
	Returns the visualization elements. More...

drake::systems::rendering::PoseBundle< T >	CalcPoses (const drake::Isometry3< T > &X_WM) const override
	Computes and returns the poses of the bodies that constitute the vehicle's visualization. More...

Public Member Functions inherited from CarVis< T >
	CarVis (int id, const std::string &name)
	The constructor. More...

virtual	~CarVis ()

int	id () const
	Returns the ID that was supplied to the constructor. More...

const std::string &	name () const
	Returns the name that was supplied to the constructor. More...

int	num_poses () const
	Returns the number of visualization geometry poses. More...

Constructor & Destructor Documentation

◆ BoxCarVis()

BoxCarVis	(	int	model_instance_id,
		const std::string &	name
	)

Member Function Documentation

◆ CalcPoses()

PoseBundle< T > CalcPoses ( const drake::Isometry3< T > & X_WM ) const

overridevirtual

Computes and returns the poses of the bodies that constitute the vehicle's visualization.

The provided X_WM is the pose of the vehicle model in the world frame. The origin of the model's frame is assumed to be in the middle of the vehicle's rear axle. The poses in the returned PoseBundle are for the visualization's elements, and are also in the world frame. The size of this bundle is the value returned by num_poses().

Implements CarVis< T >.

◆ GetVisElements()

const vector< drake::lcmt_viewer_link_data > & GetVisElements ( ) const

overridevirtual

Returns the visualization elements.