Detailed Description

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

CarVis is a base class that provides visualization geometries and their poses.

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/car_vis.h>

Inheritance diagram for CarVis< T >:

Public Member Functions
	CarVis (int id, const std::string &name)
	The constructor. More...

virtual	~CarVis ()

virtual const std::vector< drake::lcmt_viewer_link_data > &	GetVisElements () const =0
	Returns the visualization elements. More...

virtual drake::systems::rendering::PoseBundle< T >	CalcPoses (const drake::Isometry3< T > &X_WM) const =0
	Computes and returns the poses of the bodies that constitute the vehicle's visualization. More...

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

◆ CarVis()

CarVis	(	int	id,
		const std::string &	name
	)

The constructor.

Parameters

id	The ID of the vehicle being visualized. This must be unique per vehicle in the same simulation.
name	The name of the vehicle being visualized. This can be any user-defined value.

◆ ~CarVis()

virtual ~CarVis ( )

virtual

Member Function Documentation

◆ CalcPoses()

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

pure virtual

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().

Implemented in SimplePriusVis< T >, PriusVis< T >, and BoxCarVis< T >.

◆ GetVisElements()

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

pure virtual

Returns the visualization elements.

Implemented in SimplePriusVis< T >, PriusVis< T >, and BoxCarVis< T >.

◆ id()

int id ( ) const

Returns the ID that was supplied to the constructor.

◆ name()

const std::string& name ( ) const

Returns the name that was supplied to the constructor.

◆ num_poses()

int num_poses

Returns the number of visualization geometry poses.

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