00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 00020 #ifndef _checkpoint_marker_h_ 00021 #define _checkpoint_marker_h 00022 00023 #include <ros/ros.h> 00024 #include <iri_checkpoint_nav/Checkpoint.h> 00025 #include <visualization_msgs/Marker.h> 00026 #include <iostream> 00027 00028 typedef iri_checkpoint_nav::Checkpoint::Request CheckpointRequest; 00029 00030 class CheckpointMarker 00031 { 00032 private: 00033 visualization_msgs::Marker generate_common_marker_msg( 00034 CheckpointRequest checkpoint); 00035 visualization_msgs::Marker generate_new_marker_msg( 00036 CheckpointRequest checkpoint); 00037 visualization_msgs::Marker generate_visited_marker_msg( 00038 CheckpointRequest checkpoint); 00039 visualization_msgs::Marker generate_active_marker_msg( 00040 CheckpointRequest checkpoint); 00041 00042 void display_checkpoint(visualization_msgs::Marker marker); 00043 00044 const static std::string marker_header_frame_; 00045 const static std::string marker_ns_; 00046 00047 ros::NodeHandle nh_; 00048 ros::Publisher rviz_pub; 00049 00050 public: 00051 CheckpointMarker(); 00052 00053 void display_new_checkpoint(CheckpointRequest checkpoint); 00054 void display_visited_checkpoint(CheckpointRequest checkpoint); 00055 void display_active_checkpoint(CheckpointRequest checkpoint); 00056 }; 00057 00058 #endif