00001 /* 00002 * VectorVisualization.hpp 00003 * 00004 * Created on: Sep 16, 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 // STD 00020 #include <vector> 00021 00022 namespace grid_map_visualization { 00023 00027 class VectorVisualization : public VisualizationBase 00028 { 00029 public: 00030 00036 VectorVisualization(ros::NodeHandle& nodeHandle, const std::string& name); 00037 00041 virtual ~VectorVisualization(); 00042 00048 bool readParameters(XmlRpc::XmlRpcValue& config); 00049 00053 bool initialize(); 00054 00060 bool visualize(const grid_map::GridMap& map); 00061 00062 private: 00063 00065 visualization_msgs::Marker marker_; 00066 00068 std::vector<std::string> types_; 00069 00071 std::string positionLayer_; 00072 00074 double scale_; 00075 00077 double lineWidth_; 00078 00080 std_msgs::ColorRGBA color_; 00081 }; 00082 00083 } /* namespace */