grasp_marker_publisher.h
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00001 /*********************************************************************
00002 *
00003 *  Copyright (c) 2009, Willow Garage, Inc.
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00033 #ifndef _GRASP_MARKER_PUBLISHER_H_
00034 #define _GRASP_MARKER_PUBLISHER_H_
00035 
00036 #include <string>
00037 #include <boost/thread/thread.hpp>
00038 #include <boost/thread/mutex.hpp>
00039 
00040 #include <ros/ros.h>
00041 
00042 #include <visualization_msgs/Marker.h>
00043 
00044 #include <geometry_msgs/PoseStamped.h>
00045 
00046 namespace object_manipulator {
00047 
00049 class GraspMarkerPublisher
00050 {
00051  private:
00053   ros::NodeHandle priv_nh_;
00054   
00056   ros::Publisher marker_pub_;
00057   
00059   std::vector<visualization_msgs::Marker> grasp_markers_;
00060 
00062   std::string ns_append_;
00063 
00065   boost::thread *publishing_thread_;
00066 
00068   boost::mutex mutex_;
00069 
00071   double continuous_publishing_rate_;
00072 
00074   void publishingThread();
00075 
00077   void init(std::string marker_out_name, std::string ns_append, double publishing_rate);
00078 
00079  public:
00081   GraspMarkerPublisher();
00082 
00084   GraspMarkerPublisher(std::string marker_out_name, std::string ns_append, double publishing_rate);
00085 
00087   ~GraspMarkerPublisher();
00088 
00090   void clearAllMarkers();
00091 
00093   unsigned int addGraspMarker(const geometry_msgs::PoseStamped &marker_pose);
00094 
00096   void setNamespaceSuffix(std::string ns_append) { ns_append_ = ns_append; }
00097 
00099   void colorGraspMarker(unsigned int marker_id, float r, float g, float b);
00100 
00102   void setMarkerPose(unsigned int marker_id, const geometry_msgs::PoseStamped &marker_pose);
00103 };
00104 
00105 
00106 
00107 } //namespace object_manipulator
00108 
00109 #endif


object_manipulator
Author(s): Matei Ciocarlie and Kaijen Hsiao
autogenerated on Thu Jan 2 2014 11:39:04