lanelet2_rviz_display::Lanelet2Display Class Reference

#include <lanelet2_display.hpp>

Inheritance diagram for lanelet2_rviz_display::Lanelet2Display:

Public Member Functions
	Lanelet2Display ()
	Creates the RViz display and initializes its configurable properties.
	~Lanelet2Display () override
	Destroys the RViz display and releases its map visualization resources.
	Lanelet2Display (const Lanelet2Display &)=delete
	Copy construction is disabled because the display owns RViz resources.
Lanelet2Display &	operator= (const Lanelet2Display &)=delete
	Copy assignment is disabled because the display owns RViz resources.
	Lanelet2Display (Lanelet2Display &&)=delete
	Move construction is disabled because RViz owns the display lifecycle.
Lanelet2Display &	operator= (Lanelet2Display &&)=delete
	Move assignment is disabled because RViz owns the display lifecycle.
void	onInitialize () override
	Initializes the display once RViz has provided the rendering context.
void	update (float dt, float ros_dt) override
	Periodically updates the display and refreshes the rendered map when needed.

Private Slots
void	updateServerName ()
void	updateLinestringRendering ()
void	updateSeparatorsRendering ()
void	updateStopLineRendering ()
void	updateTrafficLightRendering ()
void	updateAreaRendering ()
void	updateParkingRendering ()
void	updateLaneFillRendering ()
void	updateSidewalkRendering ()
void	updateCrosswalkRendering ()
void	updateIdRendering ()
void	updateColor ()
void	updateStyle ()
void	update3D ()

Private Member Functions
void	initializeMapInterface (rclcpp::Node &parent_node)
	Creates the map interface used to fetch map data from the server node.
bool	visualizeMap ()
	Creates the RViz rendering object for the currently loaded map.
void	updateVisualization ()
	Rebuilds the rendered map using the current rendering options.
void	updateVisibility ()
	Applies visibility toggles to the existing rendered map objects.

Private Attributes
std::unique_ptr< Lanelet2MapInterface >	lanelet2_map_interface_
rclcpp::Node::SharedPtr	rviz_node_
bool	viz_init_ = false
std::unique_ptr< rviz_rendering::Lanelet2Map >	map_
rviz_rendering::Lanelet2Map::RenderingOptions	rendering_options_
rviz_common::properties::StringProperty *	ll2_server_name_property_
rviz_common::properties::BoolProperty *	viz_linestring_property_
rviz_common::properties::BoolProperty *	viz_separators_property_
rviz_common::properties::BoolProperty *	three_d_property_
rviz_common::properties::BoolProperty *	fill_area_property_
rviz_common::properties::BoolProperty *	fill_parking_property_
rviz_common::properties::BoolProperty *	viz_stop_line_property_
rviz_common::properties::BoolProperty *	viz_traffic_light_property_
rviz_common::properties::BoolProperty *	viz_area_property_
rviz_common::properties::BoolProperty *	viz_parking_property_
rviz_common::properties::BoolProperty *	viz_id_property_
rviz_common::properties::BoolProperty *	viz_lane_fill_property_
rviz_common::properties::BoolProperty *	viz_sidewalk_property_
rviz_common::properties::BoolProperty *	viz_crosswalk_property_
rviz_common::properties::FloatProperty *	alpha_property_
rviz_common::properties::ColorProperty *	ll_left_col_property_
rviz_common::properties::ColorProperty *	ll_right_col_property_
rviz_common::properties::ColorProperty *	separators_col_property_
rviz_common::properties::ColorProperty *	traffic_light_col_property_
rviz_common::properties::ColorProperty *	stop_line_col_property_
rviz_common::properties::ColorProperty *	area_col_property_
rviz_common::properties::ColorProperty *	parking_col_property_
rviz_common::properties::ColorProperty *	id_col_property_
rviz_common::properties::ColorProperty *	lane_fill_col_property_
rviz_common::properties::ColorProperty *	sidewalk_col_property_
rviz_common::properties::ColorProperty *	crosswalk_col_property_
rviz_common::properties::FloatProperty *	linestring_width_property_
rviz_common::properties::FloatProperty *	separators_width_property_
rviz_common::properties::FloatProperty *	stop_line_width_property_
rviz_common::properties::FloatProperty *	traffic_light_height_property_
rviz_common::properties::FloatProperty *	area_width_property_
rviz_common::properties::FloatProperty *	parking_width_property_
rviz_common::properties::FloatProperty *	char_height_property_

Detailed Description

Definition at line 25 of file lanelet2_display.hpp.

Constructor & Destructor Documentation

Lanelet2Display() [1/3]

lanelet2_rviz_display::Lanelet2Display::Lanelet2Display

(

)

Creates the RViz display and initializes its configurable properties.

Definition at line 27 of file lanelet2_display.cpp.

                                 {
  // RViz properties are parent-owned by Qt/RViz once constructed with this display as parent.
  // NOLINTBEGIN(cppcoreguidelines-owning-memory)
  // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
  ll2_server_name_property_ =
      new StringProperty(QString::fromStdString("Name of lanelet2_map_server"), QString::fromStdString("lanelet2_map_server"),
                         QString::fromStdString("Global name of lanelet2_map_server node"), this, SLOT(updateServerName()));
 
  alpha_property_ =
      new FloatProperty("Alpha", 1.0F, "The amount of transparency to apply to the Map.", this, SLOT(updateColor()), this);
  alpha_property_->setMin(0.0F);
  alpha_property_->setMax(1.0F);
 
  three_d_property_ =
      new BoolProperty("Show Map in 3D", true, "Toggles wether to display the lanelet map with or without its z coordinates.",
                       this, SLOT(update3D()));
 
  viz_linestring_property_ =
      new BoolProperty("Visualize Lanelet-Linestrings", true, "Activate the visualization of Lanelet-Linestrings.", this,
                       SLOT(updateLinestringRendering()));
 
  ll_left_col_property_ = new ColorProperty("LL Color Left", Qt::white, "Color of left Lanelet-Linestring.",
                                            viz_linestring_property_, SLOT(updateColor()), this);
 
  ll_right_col_property_ = new ColorProperty("LL Color Right", Qt::white, "Color of right Lanelet-Linestring.",
                                             viz_linestring_property_, SLOT(updateColor()), this);
 
  linestring_width_property_ = new FloatProperty("Linestring Width", 0.1F, "The width, in meters, of each linestring.",
                                                 viz_linestring_property_, SLOT(updateStyle()), this);
  linestring_width_property_->setMin(0.01F);
 
  viz_separators_property_ =
      new BoolProperty("Visualize Lanelet-Separators", false, "Activate the visualization of Lanelet-Separators.", this,
                       SLOT(updateSeparatorsRendering()));
 
  separators_col_property_ = new ColorProperty("Separators Color", QColor{25, 25, 230}, "Color of Lanelet Separators.",
                                               viz_separators_property_, SLOT(updateColor()), this);
 
  separators_width_property_ = new FloatProperty("Linestring Width", 0.2F, "The width, in meters, of each linestring.",
                                                 viz_separators_property_, SLOT(updateStyle()), this);
  separators_width_property_->setMin(0.01F);
 
  viz_stop_line_property_ = new BoolProperty("Visualize Stop lines", true, "Activate the visualization of Stop-Lines.", this,
                                             SLOT(updateStopLineRendering()));
 
  stop_line_col_property_ = new ColorProperty("Stop Line Color", QColor{255, 25, 25}, "Color of Stop-Lines.",
                                              viz_stop_line_property_, SLOT(updateColor()), this);
 
  stop_line_width_property_ = new FloatProperty("Stop Line Width", 0.2F, "The width, in meters, of each stop line.",
                                                viz_stop_line_property_, SLOT(updateStyle()), this);
  stop_line_width_property_->setMin(0.01F);
 
  viz_traffic_light_property_ =
      new BoolProperty("Visualize Traffic Lights", true, "Activate the visualization of Traffic-Lights.", this,
                       SLOT(updateTrafficLightRendering()));
 
  traffic_light_col_property_ = new ColorProperty("Traffic Light Color", QColor{102, 102, 102}, "Color of Traffic-Lights.",
                                                  viz_traffic_light_property_, SLOT(updateColor()), this);
 
  traffic_light_height_property_ =
      new FloatProperty("Traffic Light Height", 3.0F, "The height, in meters, of each traffic light.",
                        viz_traffic_light_property_, SLOT(updateStyle()), this);
  traffic_light_height_property_->setMin(0.01F);
 
  viz_area_property_ =
      new BoolProperty("Visualize Areas", true, "Activate the visualization of Areas.", this, SLOT(updateAreaRendering()));
 
  area_col_property_ =
      new ColorProperty("Area Color", QColor{230, 127, 25}, "Color of Areas.", viz_area_property_, SLOT(updateColor()), this);
 
  area_width_property_ =
      new FloatProperty("Area Width", 0.3F, "The width, in meters, of each area.", viz_area_property_, SLOT(updateStyle()), this);
  area_width_property_->setMin(0.01F);
 
  fill_area_property_ = new BoolProperty("Fill Areas", false, "Toggles wether to fill the areas with color or not.",
                                         viz_area_property_, SLOT(updateStyle()), this);
 
  viz_parking_property_ =
      new BoolProperty("Visualize Parking", true, "Activate the visualization of Parking.", this, SLOT(updateParkingRendering()));
 
  parking_col_property_ = new ColorProperty("Parking Color", QColor{0, 179, 76}, "Color of Parking.", viz_parking_property_,
                                            SLOT(updateColor()), this);
 
  parking_width_property_ = new FloatProperty("Parking Width", 0.3F, "The width, in meters, of each parking.",
                                              viz_parking_property_, SLOT(updateStyle()), this);
  parking_width_property_->setMin(0.01F);
 
  fill_parking_property_ = new BoolProperty("Fill Parking", true, "Toggles wether to fill the parking with color or not.",
                                            viz_parking_property_, SLOT(updateStyle()), this);
 
  // Lane fills (road surface)
  viz_lane_fill_property_ = new BoolProperty("Fill Lanelets (Road)", true, "Render road surface as filled polygons.", this,
                                             SLOT(updateLaneFillRendering()));
  lane_fill_col_property_ = new ColorProperty("Road Color", QColor{56, 56, 56}, "Color of road fill.", viz_lane_fill_property_,
                                              SLOT(updateColor()), this);
 
  // Pedestrian features
  viz_sidewalk_property_ = new BoolProperty("Visualize Sidewalks", true, "Render sidewalk areas as filled polygons.", this,
                                            SLOT(updateSidewalkRendering()));
  sidewalk_col_property_ = new ColorProperty("Sidewalk Color", QColor{191, 191, 191}, "Color of sidewalks.",
                                             viz_sidewalk_property_, SLOT(updateColor()), this);
 
  viz_crosswalk_property_ = new BoolProperty("Visualize Crosswalks", true, "Render crosswalk areas as filled polygons.", this,
                                             SLOT(updateCrosswalkRendering()));
  crosswalk_col_property_ = new ColorProperty("Crosswalk Color", QColor{255, 255, 255}, "Color of crosswalks.",
                                              viz_crosswalk_property_, SLOT(updateColor()), this);
 
  viz_id_property_ = new BoolProperty("Visualize Lanelet-IDs", false, "Activate the visualization of Lanelet-IDs.", this,
                                      SLOT(updateIdRendering()));
 
  id_col_property_ =
      new ColorProperty("ID Color", Qt::white, "Color of Lanelet-IDs.", viz_id_property_, SLOT(updateColor()), this);
 
  char_height_property_ =
      new FloatProperty("Character Height", 1.0F, "The height of each character.", viz_id_property_, SLOT(updateStyle()), this);
  // NOLINTEND(cppcoreguidelines-owning-memory)
}

~Lanelet2Display()

lanelet2_rviz_display::Lanelet2Display::~Lanelet2Display ( )

overridedefault

Destroys the RViz display and releases its map visualization resources.

Lanelet2Display() [2/3]

lanelet2_rviz_display::Lanelet2Display::Lanelet2Display ( const Lanelet2Display & )

delete

Copy construction is disabled because the display owns RViz resources.

Lanelet2Display() [3/3]

lanelet2_rviz_display::Lanelet2Display::Lanelet2Display ( Lanelet2Display && )

delete

Move construction is disabled because RViz owns the display lifecycle.

Member Function Documentation

initializeMapInterface()

void lanelet2_rviz_display::Lanelet2Display::initializeMapInterface ( rclcpp::Node & parent_node )

private

Creates the map interface used to fetch map data from the server node.

Parameters

parent_node

ROS node used for the interface internals

Definition at line 147 of file lanelet2_display.cpp.

                                                                    {
  std::string name = ll2_server_name_property_->getStdString();
  if (!name.empty()) {
    if (name[0] != '/') {
      name = '/' + name;
    }
    lanelet2_map_interface_ = std::make_unique<Lanelet2MapInterface>(parent_node, name);
  }
}

onInitialize()

void lanelet2_rviz_display::Lanelet2Display::onInitialize ( )

override

Initializes the display once RViz has provided the rendering context.

Definition at line 157 of file lanelet2_display.cpp.

                                   {
  auto nodeAbstraction = context_->getRosNodeAbstraction().lock();
  rviz_node_ = nodeAbstraction->get_raw_node();
  initializeMapInterface(*rviz_node_);
}

operator=() [1/2]

Lanelet2Display & lanelet2_rviz_display::Lanelet2Display::operator= ( const Lanelet2Display & )

delete

Copy assignment is disabled because the display owns RViz resources.

operator=() [2/2]

Lanelet2Display & lanelet2_rviz_display::Lanelet2Display::operator= ( Lanelet2Display && )

delete

Move assignment is disabled because RViz owns the display lifecycle.

update()

void lanelet2_rviz_display::Lanelet2Display::update ( float dt, float ros_dt )

override

Periodically updates the display and refreshes the rendered map when needed.

Parameters

dt	wall-clock time since the previous update
ros_dt	ROS time since the previous update

Definition at line 163 of file lanelet2_display.cpp.

                                                   {
  if (lanelet2_map_interface_->map_loaded_) {
    if (!viz_init_) {
      viz_init_ = visualizeMap();
      lanelet2_map_interface_->update_pending_ = false;
    }
 
    if (lanelet2_map_interface_->update_pending_) {
      updateVisualization();
    }
 
    if (viz_init_) {
      Q_UNUSED(dt);
      Q_UNUSED(ros_dt);
 
      Ogre::Vector3 position;
      Ogre::Quaternion orientation;
      if (context_->getFrameManager()->getTransform(lanelet2_map_interface_->map_frame_id_, position, orientation)) {
        scene_node_->setPosition(position);
        scene_node_->setOrientation(orientation);
        setTransformOk();
      } else {
        setMissingTransformToFixedFrame(lanelet2_map_interface_->map_frame_id_);
        map_->getSceneNode()->setVisible(false);
      }
    }
  }
}

update3D

void lanelet2_rviz_display::Lanelet2Display::update3D ( )

privateslot

Definition at line 379 of file lanelet2_display.cpp.

                               {
  // 3D
  rendering_options_.threeD = three_d_property_->getBool();
 
  updateVisualization();
}

updateAreaRendering

void lanelet2_rviz_display::Lanelet2Display::updateAreaRendering ( )

privateslot

Definition at line 249 of file lanelet2_display.cpp.

                                          {
  rendering_options_.renderAreas = viz_area_property_->getBool();
  for (uint16_t i = 0; i < viz_area_property_->numChildren(); i++) {
    viz_area_property_->childAtUnchecked(i)->setHidden(!rendering_options_.renderAreas);
  }
  updateVisibility();
}

updateColor

void lanelet2_rviz_display::Lanelet2Display::updateColor ( )

privateslot

Definition at line 297 of file lanelet2_display.cpp.

                                  {
  // Linestrings
  QColor color_left = ll_left_col_property_->getColor();
  QColor color_right = ll_right_col_property_->getColor();
  color_left.setAlphaF(alpha_property_->getFloat());
  color_right.setAlphaF(alpha_property_->getFloat());
  rendering_options_.colorLeft = qtToOgre(color_left);
  rendering_options_.colorRight = qtToOgre(color_right);
 
  // Separators
  QColor color_sep = separators_col_property_->getColor();
  color_sep.setAlphaF(alpha_property_->getFloat());
  rendering_options_.colorSeperator = qtToOgre(color_sep);
 
  // Traffic lights
  QColor color_tl = traffic_light_col_property_->getColor();
  color_tl.setAlphaF(alpha_property_->getFloat());
  rendering_options_.colorTrafficLight = qtToOgre(color_tl);
 
  // Stop lines
  QColor color_sl = stop_line_col_property_->getColor();
  color_sl.setAlphaF(alpha_property_->getFloat());
  rendering_options_.colorStopLine = qtToOgre(color_sl);
 
  // Areas
  QColor color_area = area_col_property_->getColor();
  color_area.setAlphaF(alpha_property_->getFloat());
  rendering_options_.colorArea = qtToOgre(color_area);
 
  // Parking
  QColor color_parking = parking_col_property_->getColor();
  color_parking.setAlphaF(alpha_property_->getFloat());
  rendering_options_.colorParking = qtToOgre(color_parking);
 
  // Lane fill (road)
  QColor color_lane_fill = lane_fill_col_property_->getColor();
  color_lane_fill.setAlphaF(alpha_property_->getFloat());
  rendering_options_.colorLaneFill = qtToOgre(color_lane_fill);
 
  // Sidewalk
  QColor color_sidewalk = sidewalk_col_property_->getColor();
  color_sidewalk.setAlphaF(alpha_property_->getFloat());
  rendering_options_.colorSidewalk = qtToOgre(color_sidewalk);
 
  // Crosswalk
  QColor color_crosswalk = crosswalk_col_property_->getColor();
  color_crosswalk.setAlphaF(alpha_property_->getFloat());
  rendering_options_.colorCrosswalk = qtToOgre(color_crosswalk);
 
  // IDs
  QColor color_id = id_col_property_->getColor();
  color_id.setAlphaF(alpha_property_->getFloat());
  rendering_options_.colorLaneletId = qtToOgre(color_id);
 
  updateVisualization();
}

updateCrosswalkRendering

void lanelet2_rviz_display::Lanelet2Display::updateCrosswalkRendering ( )

privateslot

Definition at line 281 of file lanelet2_display.cpp.

                                               {
  rendering_options_.renderCrosswalks = viz_crosswalk_property_->getBool();
  for (uint16_t i = 0; i < viz_crosswalk_property_->numChildren(); i++) {
    viz_crosswalk_property_->childAtUnchecked(i)->setHidden(!rendering_options_.renderCrosswalks);
  }
  updateVisibility();
}

updateIdRendering

void lanelet2_rviz_display::Lanelet2Display::updateIdRendering ( )

privateslot

Definition at line 289 of file lanelet2_display.cpp.

                                        {
  rendering_options_.renderLaneletIds = viz_id_property_->getBool();
  for (uint16_t i = 0; i < viz_id_property_->numChildren(); i++) {
    viz_id_property_->childAtUnchecked(i)->setHidden(!rendering_options_.renderLaneletIds);
  }
  updateVisibility();
}

updateLaneFillRendering

void lanelet2_rviz_display::Lanelet2Display::updateLaneFillRendering ( )

privateslot

Definition at line 265 of file lanelet2_display.cpp.

                                              {
  rendering_options_.renderLaneletFills = viz_lane_fill_property_->getBool();
  for (uint16_t i = 0; i < viz_lane_fill_property_->numChildren(); i++) {
    viz_lane_fill_property_->childAtUnchecked(i)->setHidden(!rendering_options_.renderLaneletFills);
  }
  updateVisibility();
}

updateLinestringRendering

void lanelet2_rviz_display::Lanelet2Display::updateLinestringRendering ( )

privateslot

Definition at line 217 of file lanelet2_display.cpp.

                                                {
  rendering_options_.renderLaneletLinestrings = viz_linestring_property_->getBool();
  for (uint16_t i = 0; i < viz_linestring_property_->numChildren(); i++) {
    viz_linestring_property_->childAtUnchecked(i)->setHidden(!rendering_options_.renderLaneletLinestrings);
  }
  updateVisibility();
}

updateParkingRendering

void lanelet2_rviz_display::Lanelet2Display::updateParkingRendering ( )

privateslot

Definition at line 257 of file lanelet2_display.cpp.

                                             {
  rendering_options_.renderParking = viz_parking_property_->getBool();
  for (uint16_t i = 0; i < viz_parking_property_->numChildren(); i++) {
    viz_parking_property_->childAtUnchecked(i)->setHidden(!rendering_options_.renderParking);
  }
  updateVisibility();
}

updateSeparatorsRendering

void lanelet2_rviz_display::Lanelet2Display::updateSeparatorsRendering ( )

privateslot

Definition at line 225 of file lanelet2_display.cpp.

                                                {
  rendering_options_.renderLaneletSeparators = viz_separators_property_->getBool();
  for (uint16_t i = 0; i < viz_separators_property_->numChildren(); i++) {
    viz_separators_property_->childAtUnchecked(i)->setHidden(!rendering_options_.renderLaneletSeparators);
  }
  updateVisibility();
}

updateServerName

void lanelet2_rviz_display::Lanelet2Display::updateServerName ( )

privateslot

Definition at line 192 of file lanelet2_display.cpp.

                                       {
  lanelet2_map_interface_.reset();
  initializeMapInterface(*rviz_node_);
  viz_init_ = false;
}

updateSidewalkRendering

void lanelet2_rviz_display::Lanelet2Display::updateSidewalkRendering ( )

privateslot

Definition at line 273 of file lanelet2_display.cpp.

                                              {
  rendering_options_.renderSidewalks = viz_sidewalk_property_->getBool();
  for (uint16_t i = 0; i < viz_sidewalk_property_->numChildren(); i++) {
    viz_sidewalk_property_->childAtUnchecked(i)->setHidden(!rendering_options_.renderSidewalks);
  }
  updateVisibility();
}

updateStopLineRendering

void lanelet2_rviz_display::Lanelet2Display::updateStopLineRendering ( )

privateslot

Definition at line 233 of file lanelet2_display.cpp.

                                              {
  rendering_options_.renderStopLines = viz_stop_line_property_->getBool();
  for (uint16_t i = 0; i < viz_stop_line_property_->numChildren(); i++) {
    viz_stop_line_property_->childAtUnchecked(i)->setHidden(!rendering_options_.renderStopLines);
  }
  updateVisibility();
}

updateStyle

void lanelet2_rviz_display::Lanelet2Display::updateStyle ( )

privateslot

Definition at line 354 of file lanelet2_display.cpp.

                                  {
  // Linestrings
  rendering_options_.linestringWidth = linestring_width_property_->getFloat();
 
  // Separators
  rendering_options_.seperatorWidth = separators_width_property_->getFloat();
 
  // Stop lines
  rendering_options_.stopLineWidth = stop_line_width_property_->getFloat();
 
  // Traffic lights
  rendering_options_.trafficLightHeightAboveGround = traffic_light_height_property_->getFloat();
 
  // IDs
  rendering_options_.characterHeight = char_height_property_->getFloat();
 
  // Areas
  rendering_options_.fillArea = fill_area_property_->getBool();
 
  // Parking
  rendering_options_.fillParking = fill_parking_property_->getBool();
 
  updateVisualization();
}

updateTrafficLightRendering

void lanelet2_rviz_display::Lanelet2Display::updateTrafficLightRendering ( )

privateslot

Definition at line 241 of file lanelet2_display.cpp.

                                                  {
  rendering_options_.renderTrafficLights = viz_traffic_light_property_->getBool();
  for (uint16_t i = 0; i < viz_traffic_light_property_->numChildren(); i++) {
    viz_traffic_light_property_->childAtUnchecked(i)->setHidden(!rendering_options_.renderTrafficLights);
  }
  updateVisibility();
}

updateVisibility()

void lanelet2_rviz_display::Lanelet2Display::updateVisibility ( )

private

Applies visibility toggles to the existing rendered map objects.

Definition at line 211 of file lanelet2_display.cpp.

                                       {
  if (viz_init_) {
    map_->updateVisibility(rendering_options_);
  }
}

updateVisualization()

void lanelet2_rviz_display::Lanelet2Display::updateVisualization ( )

private

Rebuilds the rendered map using the current rendering options.

Definition at line 204 of file lanelet2_display.cpp.

                                          {
  if (viz_init_) {
    map_->updateMap(rendering_options_, lanelet2_map_interface_->getMapPtr());
    lanelet2_map_interface_->update_pending_ = false;
  }
}

visualizeMap()

bool lanelet2_rviz_display::Lanelet2Display::visualizeMap ( )

private

Creates the RViz rendering object for the currently loaded map.

Returns

true after the visualization object has been created

Definition at line 198 of file lanelet2_display.cpp.

                                   {
  map_ = std::make_unique<rviz_rendering::Lanelet2Map>(scene_manager_, scene_node_, rendering_options_,
                                                       lanelet2_map_interface_->getMapPtr());
  return true;
}

Member Data Documentation

alpha_property_

rviz_common::properties::FloatProperty* lanelet2_rviz_display::Lanelet2Display::alpha_property_

private

Definition at line 128 of file lanelet2_display.hpp.

area_col_property_

rviz_common::properties::ColorProperty * lanelet2_rviz_display::Lanelet2Display::area_col_property_

private

Definition at line 130 of file lanelet2_display.hpp.

area_width_property_

rviz_common::properties::FloatProperty * lanelet2_rviz_display::Lanelet2Display::area_width_property_

private

Definition at line 133 of file lanelet2_display.hpp.

char_height_property_

rviz_common::properties::FloatProperty * lanelet2_rviz_display::Lanelet2Display::char_height_property_

private

Definition at line 133 of file lanelet2_display.hpp.

crosswalk_col_property_

rviz_common::properties::ColorProperty * lanelet2_rviz_display::Lanelet2Display::crosswalk_col_property_

private

Definition at line 131 of file lanelet2_display.hpp.

fill_area_property_

rviz_common::properties::BoolProperty * lanelet2_rviz_display::Lanelet2Display::fill_area_property_

private

Definition at line 126 of file lanelet2_display.hpp.

fill_parking_property_

rviz_common::properties::BoolProperty * lanelet2_rviz_display::Lanelet2Display::fill_parking_property_

private

Definition at line 126 of file lanelet2_display.hpp.

id_col_property_

rviz_common::properties::ColorProperty * lanelet2_rviz_display::Lanelet2Display::id_col_property_

private

Definition at line 130 of file lanelet2_display.hpp.

lane_fill_col_property_

rviz_common::properties::ColorProperty * lanelet2_rviz_display::Lanelet2Display::lane_fill_col_property_

private

Definition at line 131 of file lanelet2_display.hpp.

lanelet2_map_interface_

std::unique_ptr<Lanelet2MapInterface> lanelet2_rviz_display::Lanelet2Display::lanelet2_map_interface_

private

Definition at line 116 of file lanelet2_display.hpp.

linestring_width_property_

rviz_common::properties::FloatProperty* lanelet2_rviz_display::Lanelet2Display::linestring_width_property_

private

Definition at line 132 of file lanelet2_display.hpp.

ll2_server_name_property_

rviz_common::properties::StringProperty* lanelet2_rviz_display::Lanelet2Display::ll2_server_name_property_

private

Definition at line 124 of file lanelet2_display.hpp.

ll_left_col_property_

rviz_common::properties::ColorProperty* lanelet2_rviz_display::Lanelet2Display::ll_left_col_property_

private

Definition at line 129 of file lanelet2_display.hpp.

ll_right_col_property_

rviz_common::properties::ColorProperty * lanelet2_rviz_display::Lanelet2Display::ll_right_col_property_

private

Definition at line 129 of file lanelet2_display.hpp.

map_

std::unique_ptr<rviz_rendering::Lanelet2Map> lanelet2_rviz_display::Lanelet2Display::map_

private

Definition at line 121 of file lanelet2_display.hpp.

parking_col_property_

rviz_common::properties::ColorProperty * lanelet2_rviz_display::Lanelet2Display::parking_col_property_

private

Definition at line 130 of file lanelet2_display.hpp.

parking_width_property_

rviz_common::properties::FloatProperty * lanelet2_rviz_display::Lanelet2Display::parking_width_property_

private

Definition at line 133 of file lanelet2_display.hpp.

rendering_options_

rviz_rendering::Lanelet2Map::RenderingOptions lanelet2_rviz_display::Lanelet2Display::rendering_options_

private

Definition at line 122 of file lanelet2_display.hpp.

rviz_node_

rclcpp::Node::SharedPtr lanelet2_rviz_display::Lanelet2Display::rviz_node_

private

Definition at line 117 of file lanelet2_display.hpp.

separators_col_property_

rviz_common::properties::ColorProperty * lanelet2_rviz_display::Lanelet2Display::separators_col_property_

private

Definition at line 129 of file lanelet2_display.hpp.

separators_width_property_

rviz_common::properties::FloatProperty * lanelet2_rviz_display::Lanelet2Display::separators_width_property_

private

Definition at line 132 of file lanelet2_display.hpp.

sidewalk_col_property_

rviz_common::properties::ColorProperty * lanelet2_rviz_display::Lanelet2Display::sidewalk_col_property_

private

Definition at line 131 of file lanelet2_display.hpp.

stop_line_col_property_

rviz_common::properties::ColorProperty * lanelet2_rviz_display::Lanelet2Display::stop_line_col_property_

private

Definition at line 130 of file lanelet2_display.hpp.

stop_line_width_property_

rviz_common::properties::FloatProperty * lanelet2_rviz_display::Lanelet2Display::stop_line_width_property_

private

Definition at line 132 of file lanelet2_display.hpp.

three_d_property_

rviz_common::properties::BoolProperty * lanelet2_rviz_display::Lanelet2Display::three_d_property_

private

Definition at line 125 of file lanelet2_display.hpp.

traffic_light_col_property_

rviz_common::properties::ColorProperty * lanelet2_rviz_display::Lanelet2Display::traffic_light_col_property_

private

Definition at line 130 of file lanelet2_display.hpp.

traffic_light_height_property_

rviz_common::properties::FloatProperty * lanelet2_rviz_display::Lanelet2Display::traffic_light_height_property_

private

Definition at line 133 of file lanelet2_display.hpp.

viz_area_property_

rviz_common::properties::BoolProperty * lanelet2_rviz_display::Lanelet2Display::viz_area_property_

private

Definition at line 126 of file lanelet2_display.hpp.

viz_crosswalk_property_

rviz_common::properties::BoolProperty * lanelet2_rviz_display::Lanelet2Display::viz_crosswalk_property_

private

Definition at line 127 of file lanelet2_display.hpp.

viz_id_property_

rviz_common::properties::BoolProperty * lanelet2_rviz_display::Lanelet2Display::viz_id_property_

private

Definition at line 127 of file lanelet2_display.hpp.

viz_init_

bool lanelet2_rviz_display::Lanelet2Display::viz_init_ = false

private

Definition at line 119 of file lanelet2_display.hpp.

viz_lane_fill_property_

rviz_common::properties::BoolProperty * lanelet2_rviz_display::Lanelet2Display::viz_lane_fill_property_

private

Definition at line 127 of file lanelet2_display.hpp.

viz_linestring_property_

rviz_common::properties::BoolProperty* lanelet2_rviz_display::Lanelet2Display::viz_linestring_property_

private

Definition at line 125 of file lanelet2_display.hpp.

viz_parking_property_

rviz_common::properties::BoolProperty * lanelet2_rviz_display::Lanelet2Display::viz_parking_property_

private

Definition at line 127 of file lanelet2_display.hpp.

viz_separators_property_

rviz_common::properties::BoolProperty * lanelet2_rviz_display::Lanelet2Display::viz_separators_property_

private

Definition at line 125 of file lanelet2_display.hpp.

viz_sidewalk_property_

rviz_common::properties::BoolProperty * lanelet2_rviz_display::Lanelet2Display::viz_sidewalk_property_

private

Definition at line 127 of file lanelet2_display.hpp.

viz_stop_line_property_

rviz_common::properties::BoolProperty * lanelet2_rviz_display::Lanelet2Display::viz_stop_line_property_

private

Definition at line 126 of file lanelet2_display.hpp.

viz_traffic_light_property_

rviz_common::properties::BoolProperty * lanelet2_rviz_display::Lanelet2Display::viz_traffic_light_property_

private

Definition at line 126 of file lanelet2_display.hpp.

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

• lanelet2_rviz_display/include/lanelet2_rviz_display/lanelet2_display.hpp
• lanelet2_rviz_display/src/lanelet2_display.cpp