Program Listing for File PolygonRosConverter.hpp
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/*
* PolygonRosConverter.hpp
*
* Created on: Nov 7, 2014
* Author: Péter Fankhauser
* Institute: ETH Zurich, ANYbotics
*/
#ifndef GRID_MAP_ROS__POLYGONROSCONVERTER_HPP_
#define GRID_MAP_ROS__POLYGONROSCONVERTER_HPP_
#include <grid_map_core/Polygon.hpp>
// ROS
#include <rclcpp/time.hpp>
#include <geometry_msgs/msg/polygon_stamped.hpp>
#include <visualization_msgs/msg/marker.hpp>
#include <std_msgs/msg/color_rgba.hpp>
// STL
#include <string>
namespace grid_map
{
class PolygonRosConverter
{
public:
PolygonRosConverter();
virtual ~PolygonRosConverter();
static void toMessage(
const grid_map::Polygon & polygon,
geometry_msgs::msg::PolygonStamped & message);
static void toLineMarker(
const grid_map::Polygon & polygon, const std_msgs::msg::ColorRGBA & color,
const double lineWidth,
const double zCoordinate, visualization_msgs::msg::Marker & marker);
static void toTriangleListMarker(
const grid_map::Polygon & polygon, const std_msgs::msg::ColorRGBA & color,
const double zCoordinate, visualization_msgs::msg::Marker & marker);
};
} // namespace grid_map
#endif // GRID_MAP_ROS__POLYGONROSCONVERTER_HPP_