Drake
BoxCarVis< T > Class Template Reference

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

#include <drake/automotive/box_car_vis.h>

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Public Member Functions

 BoxCarVis (int model_instance_id, const std::string &name)
 
const std::vector< lcmt_viewer_link_data > & GetVisElements () const override
 Returns the visualization elements. More...
 
systems::rendering::PoseBundle< T > CalcPoses (const 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...
 
 CarVis (const CarVis &)=delete
 
CarVisoperator= (const CarVis &)=delete
 
 CarVis (CarVis &&)=delete
 
CarVisoperator= (CarVis &&)=delete
 

Detailed Description

template<typename T>
class drake::automotive::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.

Constructor & Destructor Documentation

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

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Member Function Documentation

PoseBundle< T > CalcPoses ( const 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 >.

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const vector< lcmt_viewer_link_data > & GetVisElements ( ) const
overridevirtual

Returns the visualization elements.

Implements CarVis< T >.


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