$search

grasp_marker_publisher.h

Go to the documentation of this file.

/*********************************************************************
*
*  Copyright (c) 2009, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#ifndef _GRASP_MARKER_PUBLISHER_H_
#define _GRASP_MARKER_PUBLISHER_H_

#include <string>
#include <boost/thread/thread.hpp>
#include <boost/thread/mutex.hpp>

#include <ros/ros.h>

#include <visualization_msgs/Marker.h>

#include <geometry_msgs/PoseStamped.h>

namespace object_manipulator {

class GraspMarkerPublisher
{
 private:
  ros::NodeHandle priv_nh_;
  
  ros::Publisher marker_pub_;
  
  std::vector<visualization_msgs::Marker> grasp_markers_;

  std::string ns_append_;

  boost::thread *publishing_thread_;

  boost::mutex mutex_;

  double continuous_publishing_rate_;

  void publishingThread();

  void init(std::string marker_out_name, std::string ns_append, double publishing_rate);

 public:
  GraspMarkerPublisher();

  GraspMarkerPublisher(std::string marker_out_name, std::string ns_append, double publishing_rate);

  ~GraspMarkerPublisher();

  void clearAllMarkers();

  unsigned int addGraspMarker(const geometry_msgs::PoseStamped &marker_pose);

  void setNamespaceSuffix(std::string ns_append) { ns_append_ = ns_append; }

  void colorGraspMarker(unsigned int marker_id, float r, float g, float b);

  void setMarkerPose(unsigned int marker_id, const geometry_msgs::PoseStamped &marker_pose);
};



} //namespace object_manipulator

#endif

---

object_manipulator
Author(s): Matei Ciocarlie and Kaijen Hsiao
autogenerated on Fri Mar 1 18:34:35 2013