visualization.h

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//=================================================================================================
// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
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#ifndef VIGIR_FOOTSTEP_PLANNING_VISUALIZATION_H__
#define VIGIR_FOOTSTEP_PLANNING_VISUALIZATION_H__

#include <ros/ros.h>
#include <tf/tf.h>

#include <nav_msgs/Path.h>
#include <visualization_msgs/MarkerArray.h>

#include <vigir_footstep_planning_msgs/footstep_planning_msgs.h>



namespace vigir_footstep_planning
{
namespace msgs
{
void footToFootMarker(const Foot& foot, const geometry_msgs::Vector3& foot_size, const std_msgs::ColorRGBA& color, visualization_msgs::Marker& marker);
void feetToFootMarkerArray(const Feet& feet, const geometry_msgs::Vector3& foot_size, const std_msgs::ColorRGBA& color, visualization_msgs::MarkerArray& marker_array);
void stepToFootMarker(const Step& step, const geometry_msgs::Vector3& foot_size, const std_msgs::ColorRGBA& color, visualization_msgs::Marker& marker);
void stepPlanToFootMarkerArray(const std::vector<Step>& steps, const geometry_msgs::Vector3& foot_size, visualization_msgs::MarkerArray& marker_array, bool add_step_index = true);
void stepPlanToFootMarkerArray(const StepPlan& step_plan, const geometry_msgs::Vector3& foot_size, visualization_msgs::MarkerArray& marker_array, bool add_step_index = true);

void feetToUpperBodyMarker(const Feet& feet, const geometry_msgs::Vector3& upper_body_size, const geometry_msgs::Vector3& upper_body_origin_shift, const std_msgs::ColorRGBA& color, visualization_msgs::Marker& marker, bool flat = false);
void stepPlanToUpperBodyMarkerArray(const std::vector<Step>& steps, const geometry_msgs::Vector3& upper_body_size, const geometry_msgs::Vector3& upper_body_origin_shift, visualization_msgs::MarkerArray& marker_array, bool add_step_index = true);
void stepPlanToUpperBodyMarkerArray(const StepPlan& step_plan, const geometry_msgs::Vector3& upper_body_size, const geometry_msgs::Vector3& upper_body_origin_shift, visualization_msgs::MarkerArray& marker_array, bool add_step_index = true);

void stepPlanToPath(const StepPlan& step_plan, nav_msgs::Path& path);
}
}

#endif