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/*
 * PolygonRosConverter.hpp
 *
 *  Created on: Nov 7, 2014
 *      Author: Péter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#ifndef GRID_MAP_ROS__POLYGONROSCONVERTER_HPP_
#define GRID_MAP_ROS__POLYGONROSCONVERTER_HPP_

#include <grid_map_core/Polygon.hpp>

// ROS
#include <rclcpp/time.hpp>
#include <geometry_msgs/msg/polygon_stamped.hpp>
#include <visualization_msgs/msg/marker.hpp>
#include <std_msgs/msg/color_rgba.hpp>

// STL
#include <string>

namespace grid_map
{

class PolygonRosConverter
{
public:
  PolygonRosConverter();

  virtual ~PolygonRosConverter();

  static void toMessage(
    const grid_map::Polygon & polygon,
    geometry_msgs::msg::PolygonStamped & message);

  static void toLineMarker(
    const grid_map::Polygon & polygon, const std_msgs::msg::ColorRGBA & color,
    const double lineWidth,
    const double zCoordinate, visualization_msgs::msg::Marker & marker);

  static void toTriangleListMarker(
    const grid_map::Polygon & polygon, const std_msgs::msg::ColorRGBA & color,
    const double zCoordinate, visualization_msgs::msg::Marker & marker);
};

}  // namespace grid_map
#endif  // GRID_MAP_ROS__POLYGONROSCONVERTER_HPP_