visualizer_rviz.hpp

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#pragma once
#ifndef ISM_VISUALIZATIONS_VISUALIZERRVIZ_HPP
#define ISM_VISUALIZATIONS_VISUALIZERRVIZ_HPP

#include <ros/ros.h>
#include <visualization_msgs/MarkerArray.h>

namespace VIZ
{

class VisualizerRVIZ
{
    visualization_msgs::MarkerArray marker_array_;
    ros::Publisher publisher_;

public:
    VisualizerRVIZ(const ros::Publisher& publisher):
        publisher_(publisher)
    {}
    inline void publishCollectedMarkers()
    {
        publisher_.publish(marker_array_);
    }

    void clearAllMarkerOfTopic();

protected:
    inline void addMarker(visualization_msgs::Marker marker)
    {
        marker_array_.markers.push_back(marker);
    }
    inline void addMarker(visualization_msgs::MarkerArray markers){
        marker_array_.markers.insert(marker_array_.markers.end(), markers.markers.begin(), markers.markers.end());
    }

    inline void publishMarkers()
    {
        publisher_.publish(marker_array_);
    }
};
}


#endif // VISUALIZERRVIZ_HPP