Drake
box_car_vis.h
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1 #pragma once
2 
3 #include <string>
4 #include <vector>
5 
7 #include "drake/lcmt_viewer_link_data.hpp"
9 
10 namespace drake {
11 namespace automotive {
12 
13 /// BoxCarVis displays a box as the visual representation of a vehicle.
14 ///
15 /// Instantiated templates for the following kinds of T's are provided:
16 /// - double
17 ///
18 /// They are already available to link against in the containing library.
19 ///
20 template <typename T>
21 class BoxCarVis : public CarVis<T> {
22  public:
23  BoxCarVis(int model_instance_id, const std::string& name);
24 
25  const std::vector<lcmt_viewer_link_data>& GetVisElements() const override;
26 
28  const Isometry3<T>& X_WM) const override;
29 
30  private:
31  std::vector<lcmt_viewer_link_data> vis_elements_;
32 };
33 
34 } // namespace automotive
35 } // namespace drake
Eigen::Transform< Scalar, 3, Eigen::Isometry > Isometry3
An Isometry templated on scalar type.
Definition: eigen_types.h:106
BoxCarVis(int model_instance_id, const std::string &name)
Definition: box_car_vis.cc:16
BoxCarVis displays a box as the visual representation of a vehicle.
Definition: box_car_vis.h:21
systems::rendering::PoseBundle< T > CalcPoses(const Isometry3< T > &X_WM) const override
Computes and returns the poses of the bodies that constitute the vehicle&#39;s visualization.
Definition: box_car_vis.cc:39
Definition: automotive_demo.cc:88
const std::vector< lcmt_viewer_link_data > & GetVisElements() const override
Returns the visualization elements.
Definition: box_car_vis.cc:34
PoseBundle is a container for a set of poses, represented by an Isometry3, and corresponding velociti...
Definition: pose_bundle.h:40
CarVis is a base class that provides visualization geometries and their poses.
Definition: car_vis.h:21
const std::string & name() const
Returns the name that was supplied to the constructor.
Definition: car_vis.h:53