ObjectModelVisualizerRVIZ.hpp

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#pragma once
//Ilcas includes
#include <asr_ism_visualizations/visualizer_rviz.hpp>
#include <ISM/common_type/Object.hpp>

namespace VIZ
{
class ObjectModelVisualizerRVIZ : public VisualizerRVIZ {



public:

    ObjectModelVisualizerRVIZ(ros::Publisher publisher, std::string baseFrame, std::string prefix, double markerLifetime)
        : VisualizerRVIZ(publisher), baseFrame(baseFrame), prefix(prefix), markerLifetime(markerLifetime)
    {};

    void drawObjectModels(const std::vector<ISM::ObjectPtr>& objects, const std::map<ISM::ObjectPtr, double>& objects_to_hue_map = std::map<ISM::ObjectPtr, double>());

private:

    visualization_msgs::MarkerArray getMarkersFromObjects(const std::vector<ISM::ObjectPtr> objects, const std::map<ISM::ObjectPtr, double>& objects_to_hue_map);

    std::string baseFrame;
    std::string prefix;
    double markerLifetime;
    std::map<std::string, std::string> objectTypeToPathCache;

    visualization_msgs::MarkerArray markersFromLastPublication;
};
}