Overview

This component visualizes point cloud data.

implementation_id	OGMap3DViewer
category	example

Data Ports

Input Ports

port name	data type	unit	description
q	RTC::TimedDoubleSeq	[rad]	joint angles
p	RTC::TimedPoint3D	[m]	position of the base link
rpy	RTC::TimedOrientation3D	[rad]	Roll-Pitch-Yaw angles of the base link

Output Ports

N/A

Service Ports

Service Providers

N/A

Service Consumers

port name	interface name	service type	IDL	description
OGMap3DService	service1	OGMapService	OpenHRP::OGMap3DService

Configuration Variables

name	type	unit	default	description
generateImageSequence	int		0	turn on/off caputure function
generateMovie	int		0	turn on/off movie generation
xSize	double	[m]	4	length of the cube along X axis
ySize	double	[m]	4	length of the cube along Y axis
zSize	double	[m]	4	length of the cube along Z axis
xOrigin	double	[m]	0	X component of the origin
yOrigin	double	[m]	0	Y component of the origin
zOrigin	double	[m]	0	Z component of the origin

Configuration File

key	type	unit	description
model	double	[m]	url of VRML model of the robot