marker_array_publisher.cpp
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35 
37 
38 namespace jsk_footstep_planner
39 {
40  MarkerArrayPublisher::MarkerArrayPublisher(ros::NodeHandle& nh, const std::string& topic)
41  {
42  pub_ = nh.advertise<visualization_msgs::MarkerArray>(topic, 1, true);
43  }
44 
45  void MarkerArrayPublisher::insert(const std::string& name, visualization_msgs::Marker marker)
46  {
47  marker.id = getID(name);
48  markers_[name] = marker;
49  }
50 
52  {
53  visualization_msgs::MarkerArray marker_array;
54  for (std::map<std::string, visualization_msgs::Marker>::iterator it = markers_.begin();
55  it != markers_.end();
56  ++it) {
57  marker_array.markers.push_back(it->second);
58  }
59  pub_.publish(marker_array);
60  }
61 
62  void MarkerArrayPublisher::clear(const std::string& name)
63  {
64  if (markers_.count(name) == 0) {
65  // do nothing
66  }
67  else {
68  visualization_msgs::Marker clear_marker;
69  clear_marker.id = getID(name);
70  clear_marker.action = visualization_msgs::Marker::DELETE;
71  markers_[name] = clear_marker;
72  }
73  }
74 
76  {
77  for (std::map<std::string, visualization_msgs::Marker>::iterator it = markers_.begin();
78  it != markers_.end();
79  ++it) {
80  clear(it->first);
81  }
82  }
83 
84  size_t MarkerArrayPublisher::getID(const std::string& name)
85  {
86  if (name_mapping_.count(name) == 0) {
88  }
89  else {
90  return name_mapping_[name];
91  }
92  }
93 }
marker_array
marker_array
jsk_footstep_planner::MarkerArrayPublisher::pub_
ros::Publisher pub_
Definition: marker_array_publisher.h:118
jsk_footstep_planner::MarkerArrayPublisher::clear
virtual void clear()
Definition: marker_array_publisher.cpp:107
jsk_footstep_planner::MarkerArrayPublisher::markers_
std::map< std::string, visualization_msgs::Marker > markers_
Definition: marker_array_publisher.h:120
ros::Publisher::publish
void publish(const boost::shared_ptr< M > &message) const
ros::NodeHandle::advertise
Publisher advertise(AdvertiseOptions &ops)
jsk_footstep_planner::MarkerArrayPublisher::name_mapping_
std::map< std::string, size_t > name_mapping_
Definition: marker_array_publisher.h:119
marker_array_publisher.h
jsk_footstep_planner
Definition: ann_grid.h:50
jsk_footstep_planner::MarkerArrayPublisher::getID
virtual size_t getID(const std::string &name)
Definition: marker_array_publisher.cpp:116
topic
string topic
name
std::string name
jsk_footstep_planner::MarkerArrayPublisher::insert
virtual void insert(const std::string &name, visualization_msgs::Marker marker)
Definition: marker_array_publisher.cpp:77
jsk_footstep_planner::MarkerArrayPublisher::publish
virtual void publish()
Definition: marker_array_publisher.cpp:83
jsk_footstep_planner::MarkerArrayPublisher::MarkerArrayPublisher
MarkerArrayPublisher(ros::NodeHandle &nh, const std::string &topic)
Definition: marker_array_publisher.cpp:72
ros::NodeHandle


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Wed Jan 24 2024 04:05:30