00001 // ***************************************************************************** 00002 // 00003 // Copyright (c) 2017, Southwest Research Institute® (SwRI®) 00004 // All rights reserved. 00005 // 00006 // Redistribution and use in source and binary forms, with or without 00007 // modification, are permitted provided that the following conditions are met: 00008 // * Redistributions of source code must retain the above copyright 00009 // notice, this list of conditions and the following disclaimer. 00010 // * Redistributions in binary form must reproduce the above copyright 00011 // notice, this list of conditions and the following disclaimer in the 00012 // documentation and/or other materials provided with the distribution. 00013 // * Neither the name of Southwest Research Institute® (SwRI®) nor the 00014 // names of its contributors may be used to endorse or promote products 00015 // derived from this software without specific prior written permission. 00016 // 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 // ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 // 00028 // ***************************************************************************** 00029 #ifndef SWRI_ROUTE_UTIL_VISUALIZATION_H_ 00030 #define SWRI_ROUTE_UTIL_VISUALIZATION_H_ 00031 00032 #include <swri_route_util/route.h> 00033 #include <marti_nav_msgs/RouteSpeedArray.h> 00034 #include <visualization_msgs/Marker.h> 00035 00036 namespace swri_route_util 00037 { 00038 // Create a marker for a set of speeds along a route. Each speed will 00039 // be drawn as a line that starts at the speed's location and extends 00040 // perpendicular to the route. The length of the line corresponds to 00041 // the speed. The scale parameter sets the length per m/s scale. The 00042 // marker's namespace and id will still need to be filled out. The 00043 // line colors defaults to black but can be changed after the marker 00044 // has been built. 00045 void markerForRouteSpeeds( 00046 visualization_msgs::Marker &marker, 00047 const Route &route, 00048 const marti_nav_msgs::RouteSpeedArray &speeds, 00049 double scale); 00050 } // namespace swri_route_util 00051 #endif // SWRI_ROUTE_UTIL_VISUALIZATION_H_