visualization._visualization_ext
================================

.. py:module:: visualization._visualization_ext


Classes
-------

.. autoapisummary::

   visualization._visualization_ext.RoboplanVisualizer
   visualization._visualization_ext.RoboplanIKMarker


Module Contents
---------------

.. py:class:: RoboplanVisualizer(scene, urdf_xml, frame_id = 'world', ns = '/roboplan', color = None)

   Tool to build RViz MarkerArray messages from a RoboPlan scene and joint configuration.


   .. py:method:: markers_from_configuration(q)

      Compute marker array for the given joint configuration.



   .. py:method:: clear_markers()

      Return a MarkerArray that deletes all previously published markers.



   .. py:method:: set_color(color)

      Set a color override for all geometry markers.



   .. py:method:: clear_color()

      Remove the color override, reverting to per-geometry colors.



.. py:class:: RoboplanIKMarker(scene, joint_group, base_link, tip_link, options = ...)

   IK solver backend with interactive marker support for 6-DOF pose control.


   .. py:method:: construct_imarker()

      Build an InteractiveMarker message for the current target pose.



   .. py:method:: process_feedback(feedback)

      Process InteractiveMarkerFeedback. Returns joint positions on success, or else None.



   .. py:method:: set_seed_configuration(q)

      Set the seed joint positions for the next solve.