vote_visualizer_rviz.hpp

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#pragma once
//Local includes
#include <asr_ism_visualizations/visualizer_rviz.hpp>

//ISM includes
#include <ISM/common_type/VoteSpecifier.hpp>



namespace VIZ
{
class VoteVisualizerRVIZ : public VisualizerRVIZ{



public:
    VoteVisualizerRVIZ(ros::Publisher publisher, std::string base_frame, std::string prefix, double marker_lifetime)
        : VisualizerRVIZ(publisher), base_frame_(base_frame), prefix_(prefix), marker_lifetime_(marker_lifetime)
    {};


    void addVisualization(const std::map<ISM::ObjectPtr, std::vector<ISM::VoteSpecifierPtr>>& object_to_votes);

private:

    visualization_msgs::MarkerArray generateVoteMarkers(const std::map<ISM::ObjectPtr, std::vector<ISM::VoteSpecifierPtr>>& object_to_votes);


    std::string base_frame_;
    std::string prefix_;
    double marker_lifetime_;
};
}