PolygonRosConverter.hpp

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

#pragma once

#include <grid_map_core/Polygon.hpp>

// STL
#include <string>

// ROS
#include <ros/time.h>
#include <geometry_msgs/PolygonStamped.h>
#include <visualization_msgs/Marker.h>
#include <std_msgs/ColorRGBA.h>

namespace grid_map {

class PolygonRosConverter
{
 public:

  PolygonRosConverter();

  virtual ~PolygonRosConverter();

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

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

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

} /* namespace grid_map */