visualization.h
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00001 //=================================================================================================
00002 // Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Simulation, Systems Optimization and Robotics
00013 //       group, TU Darmstadt nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE 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 VIGIR_FOOTSTEP_PLANNING_VISUALIZATION_H__
00030 #define VIGIR_FOOTSTEP_PLANNING_VISUALIZATION_H__
00031 
00032 #include <ros/ros.h>
00033 #include <tf/tf.h>
00034 
00035 #include <nav_msgs/Path.h>
00036 #include <visualization_msgs/MarkerArray.h>
00037 
00038 #include <vigir_footstep_planning_msgs/footstep_planning_msgs.h>
00039 
00040 
00041 
00042 namespace vigir_footstep_planning
00043 {
00044 namespace msgs
00045 {
00046 void footToFootMarker(const Foot& foot, const geometry_msgs::Vector3& foot_size, const std_msgs::ColorRGBA& color, visualization_msgs::Marker& marker);
00047 void feetToFootMarkerArray(const Feet& feet, const geometry_msgs::Vector3& foot_size, const std_msgs::ColorRGBA& color, visualization_msgs::MarkerArray& marker_array);
00048 void stepToFootMarker(const Step& step, const geometry_msgs::Vector3& foot_size, const std_msgs::ColorRGBA& color, visualization_msgs::Marker& marker);
00049 void stepPlanToFootMarkerArray(const std::vector<Step>& steps, const geometry_msgs::Vector3& foot_size, visualization_msgs::MarkerArray& marker_array, bool add_step_index = true);
00050 void stepPlanToFootMarkerArray(const StepPlan& step_plan, const geometry_msgs::Vector3& foot_size, visualization_msgs::MarkerArray& marker_array, bool add_step_index = true);
00051 
00052 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);
00053 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);
00054 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);
00055 
00056 void stepPlanToPath(const StepPlan& step_plan, nav_msgs::Path& path);
00057 }
00058 }
00059 
00060 #endif


vigir_footstep_planning_msgs
Author(s): Alexander Stumpf
autogenerated on Sat Jul 8 2017 02:21:30