00001 /* 00002 * MapRegionVisualization.hpp 00003 * 00004 * Created on: Jun 18, 2014 00005 * Author: Péter Fankhauser 00006 * Institute: ETH Zurich, Autonomous Systems Lab 00007 */ 00008 00009 #pragma once 00010 00011 #include <grid_map_visualization/visualizations/VisualizationBase.hpp> 00012 #include <grid_map_core/GridMap.hpp> 00013 00014 // ROS 00015 #include <ros/ros.h> 00016 #include <visualization_msgs/Marker.h> 00017 #include <std_msgs/ColorRGBA.h> 00018 00019 namespace grid_map_visualization { 00020 00024 class MapRegionVisualization : public VisualizationBase 00025 { 00026 public: 00027 00033 MapRegionVisualization(ros::NodeHandle& nodeHandle, const std::string& name); 00034 00038 virtual ~MapRegionVisualization(); 00039 00045 bool readParameters(XmlRpc::XmlRpcValue& config); 00046 00050 bool initialize(); 00051 00057 bool visualize(const grid_map::GridMap& map); 00058 00059 private: 00060 00062 visualization_msgs::Marker marker_; 00063 00065 const unsigned int nVertices_; 00066 00068 std_msgs::ColorRGBA color_; 00069 00071 double lineWidth_; 00072 00073 }; 00074 00075 } /* namespace */