hector_elevation_visualization.h
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00001 #include <ros/ros.h>
00002 
00003 #include <tf/tf.h>
00004 #include <tf/transform_listener.h>
00005 
00006 #include <std_msgs/String.h>
00007 
00008 #include <hector_elevation_msgs/ElevationMapMetaData.h>
00009 #include <hector_elevation_msgs/ElevationGrid.h>
00010 
00011 #include <dynamic_reconfigure/server.h>
00012 #include <hector_elevation_visualization/ElevationVisualizationConfig.h>
00013 
00014 #include <visualization_msgs/MarkerArray.h>
00015 
00016 #include <Eigen/Core>
00017 
00018 #include <hector_map_tools/HectorMapTools.h>
00019 
00020 
00021 class ElevationVisualization{
00022 
00023 public:
00025     ElevationVisualization();
00026 
00028     ~ElevationVisualization();
00029 
00031 
00035     void dynRecParamCallback(hector_elevation_visualization::ElevationVisualizationConfig &config, uint32_t level);
00036 
00038 
00041     void sys_message_callback(const std_msgs::String& string);
00042 
00044 
00047     void map_callback(const hector_elevation_msgs::ElevationGrid& elevation_map);
00048 
00049 private:
00050     ros::NodeHandle nHandle;
00051 
00052     ros::Subscriber sub_elevation_map;
00053     ros::Subscriber sub_sys_message_callback;
00054     ros::Publisher map_marker_array_publisher;
00055 
00056     dynamic_reconfigure::Server<hector_elevation_visualization::ElevationVisualizationConfig> dyn_rec_server_;
00057 
00058     visualization_msgs::MarkerArray map_marker_array_msg;
00059 
00060     HectorMapTools::CoordinateTransformer<float> world_map_transform;
00061 
00062     std::string elevation_map_frame_id,sys_msg_topic;
00063 
00064     int max_height_levels;
00065 
00066     double min_height,max_height,color_factor;
00067 
00068     bool use_color_map;
00069 
00070     std_msgs::ColorRGBA marker_color;
00071 
00073 
00077     void visualize_map(const hector_elevation_msgs::ElevationGrid& elevation_map, tf::StampedTransform local_map_transform);
00078 
00080 
00083     static std_msgs::ColorRGBA heightMapColor(double h);
00084 };
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hector_elevation_visualization
Author(s): Thorsten Graber
autogenerated on Mon Jul 15 2013 16:49:53