VisualUtils Class Reference

A custom gazebo plugin that provides an interface to programatically alter visuals during simulation. More...

#include <VisualUtils.hh>

Public Member Functions
	VisualUtils ()
	Constructs the object. More...
virtual	~VisualUtils ()
	Destroys the object. More...
virtual void	Load (rendering::VisualPtr _visual, sdf::ElementPtr _sdf)
	Loads the plugin. More...
void	Update ()
	Update once per simulation iteration. More...
void	onRequest (VisualUtilsRequestPtr &_msg)
	Callback function for handling incoming requests. More...

Private Member Functions
void	loadResources ()
	Loads names of available materials. More...
void	randomMaterialName (std::string &name)
	Randomly generates a new material name. More...

Private Attributes
std::unique_ptr< VisualUtilsPrivate >	dataPtr
	Private data pointer. More...

Detailed Description

A custom gazebo plugin that provides an interface to programatically alter visuals during simulation.

Materials are assumed to be loaded and name [pattern][index] See the example usage below:

<plugin name="visual_utils" filename="libVisualUtils.so">
 <!-- Unique name identifier -->
 <uid>box_1</uid>
 <!-- Prefix patterns for material names, separated by whitespace -->
 <patterns>Plugin/flat_ Plugin/gradient_ ... </patterns>
 <!-- Number of variants per prefix pattern -->
 <variants>100</variants>
</plugin>

See worlds/visual.world for a complete example.

Constructor & Destructor Documentation

VisualUtils

(

)

Constructs the object.

Register this plugin with the simulator.

~VisualUtils ( )

virtual

Destroys the object.

Member Function Documentation

void Load ( rendering::VisualPtr  _visual, sdf::ElementPtr  _sdf  )

virtual

Loads the plugin.

Parameters

_visual	The visual to which the plugin is attached
_sdf	The SDF element with plugin parameters

void loadResources ( )

private

Loads names of available materials.

void onRequest

(

VisualUtilsRequestPtr &

_msg

)

Callback function for handling incoming requests.

Parameters

_msg	The message

void randomMaterialName ( std::string &  name )

private

Randomly generates a new material name.

Parameters

name	Output random material name

void Update

(

)

Update once per simulation iteration.

Member Data Documentation

std::unique_ptr<VisualUtilsPrivate> dataPtr

private

Private data pointer.

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

• VisualUtils.hh
• VisualUtils.cc