delphyne
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PriusVis displays a visualization of a 2015 Toyota Prius.
It relies on media/prius/prius_with_lidar.sdf
and requires that this SDF file only contain one model instance that is not connected to the world.
Note also that this class is included in Delphyne for completeness sake. Currently the car simulations are using SimplePriusVis.
Instantiated templates for the following kinds of T's are provided:
They are already available to link against in the containing library.
#include <src/visualization/prius_vis.h>
Public Member Functions | |
PriusVis (int 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... | |
Static Public Attributes | |
static constexpr double | kVisOffset {1.40948} |
Defines the distance between the visual model's origin and the middle of the rear axle. More... | |
PriusVis | ( | int | id, |
const std::string & | name | ||
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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 >.
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overridevirtual |
Returns the visualization elements.
Implements CarVis< T >.
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staticconstexpr |
Defines the distance between the visual model's origin and the middle of the rear axle.