Drake
SimpleTreeVisualizer Class Reference

A utility to render a RigidBodyTree in a specified configuration. More...

#include <drake/manipulation/util/simple_tree_visualizer.h>

Public Member Functions

 SimpleTreeVisualizer (const RigidBodyTreed &tree, lcm::DrakeLcmInterface *lcm)
 Constructs the SimpleTreeVisualizer and publishes a DRAKE_VIEWER_LOAD_ROBOT message. More...
 
void visualize (const VectorX< double > &position_vector)
 Visualizes a given state position configuration. More...
 
Does not allow copy, move, or assignment
 SimpleTreeVisualizer (const SimpleTreeVisualizer &)=delete
 
SimpleTreeVisualizeroperator= (const SimpleTreeVisualizer &)=delete
 
 SimpleTreeVisualizer (SimpleTreeVisualizer &&)=delete
 
SimpleTreeVisualizeroperator= (SimpleTreeVisualizer &&)=delete
 

Detailed Description

A utility to render a RigidBodyTree in a specified configuration.

Constructor & Destructor Documentation

Constructs the SimpleTreeVisualizer and publishes a DRAKE_VIEWER_LOAD_ROBOT message.

Note that the drake-visualizer must be externally started before this constructor is called.

Parameters
treeconstant reference to the RigidBodyTree that is to be visualized. This reference must remain valid for the life time of this class.
lcmpointer to the lcm::DrakeLcm interface.

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Member Function Documentation

SimpleTreeVisualizer& operator= ( const SimpleTreeVisualizer )
delete
SimpleTreeVisualizer& operator= ( SimpleTreeVisualizer &&  )
delete
void visualize ( const VectorX< double > &  position_vector)

Visualizes a given state position configuration.

Parameters
position_vector: A VectorX with the positions that are to be visualized. The dimension of the position_vector must match the number of positions in the RigidBodyTree with which this class was constructed.

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