Class CpTrajectoryVisualizer

Inheritance Relationships

Base Types

  • public smacc2::ISmaccComponent

  • public smacc2::ISmaccUpdatable

Class Documentation

class CpTrajectoryVisualizer : public smacc2::ISmaccComponent, public smacc2::ISmaccUpdatable

Component for visualizing trajectories as RViz markers.

This component publishes trajectory paths as visualization markers that can be viewed in RViz. It follows the ISmaccUpdatable pattern for periodic publishing.

Pattern: Publisher + ISmaccUpdatable (similar to nav2z_client’s CpWaypointsVisualizer)

Public Functions

inline CpTrajectoryVisualizer(double publishRate = 10.0)

Constructor.

Parameters:

publishRate – Publishing rate (default: 10Hz)

virtual ~CpTrajectoryVisualizer() = default
inline void onInitialize() override

Initialize the marker publisher.

inline void update() override

Periodic update - publishes markers if enabled.

inline void setTrajectory(const std::vector<geometry_msgs::msg::PoseStamped> &poses, const std::string &ns = "trajectory")

Set trajectory to visualize.

Parameters:

  • poses – Vector of poses defining the trajectory path

  • ns – Namespace for the markers (default: “trajectory”)

inline void clearMarkers()

Clear all markers.

inline void setColor(float r, float g, float b, float a = 1.0)

Set marker color (RGBA values 0.0-1.0)

inline void setScale(double scale)

Set marker scale (sphere diameter in meters)

inline void setEnabled(bool enabled)

Enable/disable marker publishing.

inline bool isEnabled() const

Check if visualizer is enabled.