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hiding small wrenches should be optional #1196

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merged 3 commits into from
May 10, 2018
Merged

hiding small wrenches should be optional #1196

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159f0ff
added a boolean property to the wrench visualization to make hiding s…
jgueldenstein Feb 14, 2018
7d243fa
update doc text
dhood Apr 7, 2018
fcb3747
whitespace fixup
dhood Apr 7, 2018
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22 changes: 15 additions & 7 deletions src/rviz/default_plugin/wrench_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,39 +23,44 @@ WrenchStampedDisplay::WrenchStampedDisplay()
force_color_property_ =
new rviz::ColorProperty( "Force Color", QColor( 204, 51, 51 ),
"Color to draw the force arrows.",
this, SLOT( updateColorAndAlpha() ));
this, SLOT( updateProperties() ));

torque_color_property_ =
new rviz::ColorProperty( "Torque Color", QColor( 204, 204, 51),
"Color to draw the torque arrows.",
this, SLOT( updateColorAndAlpha() ));
this, SLOT( updateProperties() ));

alpha_property_ =
new rviz::FloatProperty( "Alpha", 1.0,
"0 is fully transparent, 1.0 is fully opaque.",
this, SLOT( updateColorAndAlpha() ));
this, SLOT( updateProperties() ));

force_scale_property_ =
new rviz::FloatProperty( "Force Arrow Scale", 2.0,
"force arrow scale",
this, SLOT( updateColorAndAlpha() ));
this, SLOT( updateProperties() ));

torque_scale_property_ =
new rviz::FloatProperty( "Torque Arrow Scale", 2.0,
"torque arrow scale",
this, SLOT( updateColorAndAlpha() ));
this, SLOT( updateProperties() ));

width_property_ =
new rviz::FloatProperty( "Arrow Width", 0.5,
"arrow width",
this, SLOT( updateColorAndAlpha() ));
this, SLOT( updateProperties() ));


history_length_property_ =
new rviz::IntProperty( "History Length", 1,
"Number of prior measurements to display.",
this, SLOT( updateHistoryLength() ));

hide_small_values_property_ =
new rviz::BoolProperty( "Hide Small Values", true,
"Hide small values",
this, SLOT( updateProperties() ));

history_length_property_->setMin( 1 );
history_length_property_->setMax( 100000 );
}
Expand All @@ -77,12 +82,13 @@ void WrenchStampedDisplay::reset()
visuals_.clear();
}

void WrenchStampedDisplay::updateColorAndAlpha()
void WrenchStampedDisplay::updateProperties()
{
float alpha = alpha_property_->getFloat();
float force_scale = force_scale_property_->getFloat();
float torque_scale = torque_scale_property_->getFloat();
float width = width_property_->getFloat();
bool hide_small_values = hide_small_values_property_->getBool();
Ogre::ColourValue force_color = force_color_property_->getOgreColor();
Ogre::ColourValue torque_color = torque_color_property_->getOgreColor();

Expand All @@ -93,6 +99,7 @@ void WrenchStampedDisplay::updateColorAndAlpha()
visuals_[i]->setForceScale( force_scale );
visuals_[i]->setTorqueScale( torque_scale );
visuals_[i]->setWidth( width );
visuals_[i]->setHideSmallValues( hide_small_values );
}
}

Expand All @@ -102,6 +109,7 @@ void WrenchStampedDisplay::updateHistoryLength()
visuals_.rset_capacity(history_length_property_->getInt());
}


bool validateFloats( const geometry_msgs::WrenchStamped& msg )
{
return rviz::validateFloats(msg.wrench.force) && rviz::validateFloats(msg.wrench.torque) ;
Expand Down
5 changes: 3 additions & 2 deletions src/rviz/default_plugin/wrench_display.h
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Expand Up @@ -41,8 +41,8 @@ class WrenchStampedDisplay: public rviz::MessageFilterDisplay<geometry_msgs::Wre
virtual void reset();

private Q_SLOTS:
// Helper function to apply color and alpha to all visuals.
void updateColorAndAlpha();
// Helper function to properties for all visuals.
void updateProperties();
void updateHistoryLength();

private:
Expand All @@ -58,6 +58,7 @@ private Q_SLOTS:
rviz::ColorProperty *force_color_property_, *torque_color_property_;
rviz::FloatProperty *alpha_property_, *force_scale_property_, *torque_scale_property_, *width_property_;
rviz::IntProperty *history_length_property_;
rviz::BoolProperty *hide_small_values_property_;
};
} // end namespace rviz_plugin_tutorials

Expand Down
14 changes: 11 additions & 3 deletions src/rviz/default_plugin/wrench_visual.cpp
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Expand Up @@ -59,9 +59,11 @@ void WrenchVisual::setWrench( const Ogre::Vector3 &force, const Ogre::Vector3 &t
{
double force_length = force.length() * force_scale_;
double torque_length = torque.length() * torque_scale_;
// hide markers if they get too short
bool show_force = (force_length > width_);
bool show_torque = (torque_length > width_);
// hide markers if they get too short and hide_small_values_ is activated
// "too short" is defined as "force_length > width_"
bool show_force = (force_length > width_) || !hide_small_values_;
bool show_torque = (torque_length > width_) || !hide_small_values_;

if (show_force) {
arrow_force_->setScale(Ogre::Vector3(force_length, width_, width_));
arrow_force_->setDirection(force);
Expand Down Expand Up @@ -131,6 +133,12 @@ void WrenchVisual::setWidth( float w )
width_ = w;
}

void WrenchVisual::setHideSmallValues( bool h )
{
hide_small_values_ = h;
}


void WrenchVisual::setVisible(bool visible)
{
frame_node_->setVisible(visible);
Expand Down
2 changes: 2 additions & 0 deletions src/rviz/default_plugin/wrench_visual.h
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@ class WrenchVisual
void setForceScale( float s );
void setTorqueScale( float s );
void setWidth( float w );
void setHideSmallValues( bool h );
void setVisible( bool visible );

private:
Expand All @@ -62,6 +63,7 @@ class WrenchVisual
rviz::BillboardLine* circle_torque_;
rviz::Arrow* circle_arrow_torque_;
float force_scale_, torque_scale_, width_;
bool hide_small_values_;

// A SceneNode whose pose is set to match the coordinate frame of
// the WrenchStamped message header.
Expand Down