Program Listing for File VectorVisualization.hpp
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/*
* VectorVisualization.hpp
*
* Created on: Sep 16, 2014
* Author: Péter Fankhauser
* Institute: ETH Zurich, ANYbotics
*/
#ifndef GRID_MAP_VISUALIZATION__VISUALIZATIONS__VECTORVISUALIZATION_HPP_
#define GRID_MAP_VISUALIZATION__VISUALIZATIONS__VECTORVISUALIZATION_HPP_
#include <grid_map_core/GridMap.hpp>
// ROS
#include <rclcpp/rclcpp.hpp>
#include <visualization_msgs/msg/marker.hpp>
#include <std_msgs/msg/color_rgba.hpp>
// STD
#include <string>
#include <vector>
#include "grid_map_visualization/visualizations/VisualizationBase.hpp"
namespace grid_map_visualization
{
class VectorVisualization : public VisualizationBase
{
public:
explicit VectorVisualization(const std::string & name, rclcpp::Node::SharedPtr nodePtr);
virtual ~VectorVisualization();
bool readParameters() override;
bool initialize() override;
bool visualize(const grid_map::GridMap & map) override;
private:
visualization_msgs::msg::Marker marker_;
std::vector<std::string> types_;
std::string positionLayer_;
double scale_;
double lineWidth_;
std_msgs::msg::ColorRGBA color_;
rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr publisher_;
};
} // namespace grid_map_visualization
#endif // GRID_MAP_VISUALIZATION__VISUALIZATIONS__VECTORVISUALIZATION_HPP_