marker_array_publisher.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
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00011  *
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00013  *     notice, this list of conditions and the following disclaimer.
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00035 
00036 #include "jsk_footstep_planner/marker_array_publisher.h"
00037 
00038 namespace jsk_footstep_planner
00039 {
00040   MarkerArrayPublisher::MarkerArrayPublisher(ros::NodeHandle& nh, const std::string& topic)
00041   {
00042     pub_ = nh.advertise<visualization_msgs::MarkerArray>(topic, 1, true);
00043   }
00044 
00045   void MarkerArrayPublisher::insert(const std::string& name, visualization_msgs::Marker marker)
00046   {
00047     marker.id = getID(name);
00048     markers_[name] = marker;
00049   }
00050 
00051   void MarkerArrayPublisher::publish()
00052   {
00053     visualization_msgs::MarkerArray marker_array;
00054     for (std::map<std::string, visualization_msgs::Marker>::iterator it = markers_.begin();
00055          it != markers_.end();
00056          ++it) {
00057       marker_array.markers.push_back(it->second);
00058     }
00059     pub_.publish(marker_array);
00060   }
00061 
00062   void MarkerArrayPublisher::clear(const std::string& name)
00063   {
00064     if (markers_.count(name) == 0) {
00065       // do nothing
00066     }
00067     else {
00068       visualization_msgs::Marker clear_marker;
00069       clear_marker.id = getID(name);
00070       clear_marker.action = visualization_msgs::Marker::DELETE;
00071       markers_[name] = clear_marker;
00072     }
00073   }
00074   
00075   void MarkerArrayPublisher::clear()
00076   {
00077     for (std::map<std::string, visualization_msgs::Marker>::iterator it = markers_.begin();
00078          it != markers_.end();
00079          ++it) {
00080       clear(it->first);
00081     }
00082   }
00083   
00084   size_t MarkerArrayPublisher::getID(const std::string& name)
00085   {
00086     if (name_mapping_.count(name) == 0) {
00087       name_mapping_[name] = name_mapping_.size();
00088     }
00089     else {
00090       return name_mapping_[name];
00091     }
00092   }
00093 }


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Wed Jul 19 2017 02:54:29