Drake
prius_vis.h
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1 #pragma once
2 
3 #include <memory>
4 #include <string>
5 #include <vector>
6 
9 #include "drake/lcmt_viewer_link_data.hpp"
12 
13 namespace drake {
14 namespace automotive {
15 
27 template <typename T>
28 class PriusVis : public CarVis<T> {
29  public:
31 
32 
33  static constexpr double kVisOffset{1.40948};
35 
36  PriusVis(int id, const std::string& name);
37 
38  const std::vector<lcmt_viewer_link_data>& GetVisElements() const override;
39 
41  const Isometry3<T>& X_WM) const override;
42 
43  private:
44  std::unique_ptr<RigidBodyTree<T>> tree_;
45  std::vector<lcmt_viewer_link_data> vis_elements_;
46 };
47 
48 } // namespace automotive
49 } // namespace drake
Eigen::Transform< Scalar, 3, Eigen::Isometry > Isometry3
An Isometry templated on scalar type.
Definition: eigen_types.h:106
Definition: automotive_demo.cc:88
PoseBundle is a container for a set of poses, represented by an Isometry3, and corresponding velociti...
Definition: pose_bundle.h:40
const std::vector< lcmt_viewer_link_data > & GetVisElements() const override
Returns the visualization elements.
Definition: prius_vis.cc:56
static constexpr double kVisOffset
Defines the distance between the visual model&#39;s origin and the middle of the rear axle...
Definition: prius_vis.h:34
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: prius_vis.cc:61
PriusVis(const PriusVis &)=delete
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
#define DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(Classname)
DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN deletes the special member functions for copy-construction, copy-assignment, move-construction, and move-assignment.
Definition: drake_copyable.h:35
PriusVis displays a visualization of a 2015 Toyota Prius.
Definition: prius_vis.h:28
Provides careful macros to selectively enable or disable the special member functions for copy-constr...