Drake
CarVis< T > Class Template Referenceabstract

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

#include <drake/automotive/car_vis.h>

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Public Member Functions

 CarVis (int id, const std::string &name)
 The constructor. More...
 
virtual ~CarVis ()
 
virtual const std::vector< lcmt_viewer_link_data > & GetVisElements () const =0
 Returns the visualization elements. More...
 
virtual systems::rendering::PoseBundle< T > CalcPoses (const 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...
 
Does not allow copy, move, or assignment
 CarVis (const CarVis &)=delete
 
CarVisoperator= (const CarVis &)=delete
 
 CarVis (CarVis &&)=delete
 
CarVisoperator= (CarVis &&)=delete
 

Detailed Description

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

Constructor & Destructor Documentation

CarVis ( const CarVis< T > &  )
delete
CarVis ( CarVis< T > &&  )
delete
CarVis ( int  id,
const std::string &  name 
)
inline

The constructor.

Parameters
idThe ID of the vehicle being visualized. This must be unique per vehicle in the same simulation.
nameThe name of the vehicle being visualized. This can be any user-defined value.
virtual ~CarVis ( )
inlinevirtual

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Member Function Documentation

virtual systems::rendering::PoseBundle<T> CalcPoses ( const 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 PriusVis< T >, and BoxCarVis< T >.

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

Returns the visualization elements.

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

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int id ( ) const
inline

Returns the ID that was supplied to the constructor.

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const std::string& name ( ) const
inline

Returns the name that was supplied to the constructor.

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int num_poses ( ) const

Returns the number of visualization geometry poses.

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CarVis& operator= ( const CarVis< T > &  )
delete
CarVis& operator= ( CarVis< T > &&  )
delete

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