collvoid_local_planner: collvoid_publishers.h Source File

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00001 /*
00002  * Copyright (c) 2012, Daniel Claes, Maastricht University
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Maastricht University nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef COLLVOID_PUBLISHERS_H
00031 #define COLLVOID_PUBLISHERS_H
00032 
00033 /* #include <ros/ros.h> */
00034 #include <visualization_msgs/Marker.h>
00035 #include <visualization_msgs/MarkerArray.h>
00036 #include "collvoid_local_planner/ROSAgent.h"
00037 
00038 namespace collvoid {
00039 
00040   #define MAX_POINTS_ 400
00041   
00042   void publishHoloSpeed(Vector2 pos, Vector2 vel, std::string base_frame, std::string name_space, ros::Publisher speed_pub);
00043   
00044   void publishVOs(Vector2& pos, const std::vector<VO>& truncated_vos, bool use_truncation, std::string base_frame, std::string name_space, ros::Publisher vo_pub);
00045   
00046   void publishPoints(Vector2& pos, const std::vector<VelocitySample>& points, std::string base_frame, std::string name_space, ros::Publisher samples_pub);
00047   void publishOrcaLines(const std::vector<Line>& orca_lines, Vector2& position, std::string base_frame, std::string name_space, ros::Publisher line_pub);
00048 
00049   void publishObstacleLines(const std::vector<Obstacle>& obstacles_lines, std::string base_frame, std::string name_space, ros::Publisher line_pub);
00050   
00051   void publishMePosition(ROSAgent* me, std::string base_frame, std::string name_space, ros::Publisher me_pub);
00052   void publishNeighborPositions(std::vector<AgentPtr>& neighbors, std::string base_frame, std::string name_space, ros::Publisher neighbors_pub);
00053   
00054   void fillMarkerWithROSAgent(visualization_msgs::MarkerArray& marker, ROSAgent* agent, std::string base_frame, std::string name_space);
00055 
00056 }
00057 
00058 #endif