Visualizer creates ROS messages to visualize the results of the localization in RViz. The possible objects that can be visualized are: neighborhoods, cylindrical shells, and handles. More...
#include <visualizer.h>
Public Member Functions | |
| MarkerArray | createCylinders (const std::vector< CylindricalShell > &list, const std::string &frame) |
| Create a MarkerArray message from a list of cylindrical shells. | |
| MarkerArray | createHandleNumbers (const std::vector< std::vector< CylindricalShell > > &handles, const std::string &frame) |
| Create a MarkerArray message from a list of cylindrical shells. | |
| void | createHandles (const std::vector< std::vector< CylindricalShell > > &handles, const std::string &frame, std::vector< MarkerArray > &marker_arrays, MarkerArray &all_handle_markers) |
| Create a list of MarkerArray messages and a MarkerArray from a list of handles. The former represents each handle as a MarkerArray message, and the latter represents all handles in a single MarkerArray message. | |
| Visualizer (double marker_lifetime) | |
| Constructor. Set the lifetime of markers in RViz. | |
Private Attributes | |
| double | marker_lifetime |
Visualizer creates ROS messages to visualize the results of the localization in RViz. The possible objects that can be visualized are: neighborhoods, cylindrical shells, and handles.
Definition at line 49 of file visualizer.h.
| Visualizer::Visualizer | ( | double | marker_lifetime | ) |
Constructor. Set the lifetime of markers in RViz.
| num_threads | the lifetime in seconds |
Definition at line 4 of file visualizer.cpp.
| MarkerArray Visualizer::createCylinders | ( | const std::vector< CylindricalShell > & | list, |
| const std::string & | frame | ||
| ) |
Create a MarkerArray message from a list of cylindrical shells.
| list | the list of cylindrical shells |
| frame | the frame in which the shells are located |
Definition at line 9 of file visualizer.cpp.
| MarkerArray Visualizer::createHandleNumbers | ( | const std::vector< std::vector< CylindricalShell > > & | handles, |
| const std::string & | frame | ||
| ) |
Create a MarkerArray message from a list of cylindrical shells.
| list | the list of cylindrical shells |
| frame | the frame in which the shells are located |
Definition at line 68 of file visualizer.cpp.
| void Visualizer::createHandles | ( | const std::vector< std::vector< CylindricalShell > > & | handles, |
| const std::string & | frame, | ||
| std::vector< MarkerArray > & | marker_arrays, | ||
| MarkerArray & | all_handle_markers | ||
| ) |
Create a list of MarkerArray messages and a MarkerArray from a list of handles. The former represents each handle as a MarkerArray message, and the latter represents all handles in a single MarkerArray message.
| handles | the list of handles |
| frame | the frame in which the handles are located |
| marker_arrays | the resultant list of MarkerArray messages |
| all_handle_markers | the resultant single MarkerArray message that consists of all handles |
Definition at line 134 of file visualizer.cpp.
double Visualizer::marker_lifetime [private] |
Definition at line 85 of file visualizer.h.