Drake
PriusVis< T > Class Template Reference

PriusVis displays a visualization of a 2015 Toyota Prius. More...

#include <drake/automotive/prius_vis.h>

Inheritance diagram for PriusVis< T >:
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Collaboration diagram for PriusVis< T >:
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Public Member Functions

 PriusVis (int 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...
 
Does not allow copy, move, or assignment
 PriusVis (const PriusVis &)=delete
 
PriusVisoperator= (const PriusVis &)=delete
 
 PriusVis (PriusVis &&)=delete
 
PriusVisoperator= (PriusVis &&)=delete
 
- 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
 

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...
 

Detailed Description

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

PriusVis displays a visualization of a 2015 Toyota Prius.

It relies on drake/automotive/models/prius/prius_with_lidar.sdf and requires that this SDF file only contain one model instance that is not connected to the world (i.e., the root body of the SDF model must not be named RigidBodyTreeConstants::kWorldName).

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

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

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Member Function Documentation

systems::rendering::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 >.

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

Member Data Documentation

constexpr double kVisOffset {1.40948}
static

Defines the distance between the visual model's origin and the middle of the rear axle.


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