MarkerHelper.hpp

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#ifndef MARKER_HELPER_HPP_
#define MARKER_HELPER_HPP_

#include <geometry_msgs/Pose.h>
#include <visualization_msgs/Marker.h>
#include "typedef.hpp"
#include "next_best_view/helper/TypeHelper.hpp"

namespace next_best_view {
    class MarkerHelper {
        private:
                MarkerHelper();
                ~MarkerHelper();
        public:
        static visualization_msgs::Marker getBasicMarker(int id, std::string ns = "my_namespace");

        static visualization_msgs::Marker getBasicMarker(int id, SimpleVector3 position, SimpleQuaternion orientation,
                                                            SimpleVector3 scale, SimpleVector4 color, std::string ns = "my_namespace");

        static visualization_msgs::Marker getTextMarker(int id, std::string text, geometry_msgs::Pose pose, std::string ns = "my_namespace");

        static visualization_msgs::Marker getDeleteMarker(int id, std::string ns = "my_namespace");

        static visualization_msgs::Marker getMeshMarker(int id, std::string meshResource, SimpleVector3 centroid, SimpleQuaternion quaternion,
                                                            SimpleVector3 scale = SimpleVector3(0.001, 0.001, 0.001), std::string ns = "my_namespace");

        static visualization_msgs::Marker getArrowMarker(int id, SimpleVector3 startPoint, SimpleVector3 endPoint,
                                                            SimpleVector3 scale = SimpleVector3(0.025, 0.05, 0.05),
                                                            SimpleVector4 color = SimpleVector4(1.0, 0.0, 0.0, 1.0),
                                                            std::string ns = "my_namespace");

        static visualization_msgs::Marker getArrowMarker(int id, SimpleVector3 position, SimpleQuaternion orientation,
                                                            SimpleVector3 scale, SimpleVector4 color, std::string ns = "my_namespace");

        static visualization_msgs::Marker getCubeMarker(int id, SimpleVector3 position, SimpleQuaternion orientation,
                                                            SimpleVector3 scale, SimpleVector4 color, std::string ns = "my_namespace");

        static visualization_msgs::Marker getSphereMarker(int id, SimpleVector3 position, SimpleVector3 scale,
                                                            SimpleVector4 color, std::string ns = "my_namespace");

        static visualization_msgs::Marker getLineListMarker(int id, std::vector<SimpleVector3> points, double scale,
                                                                SimpleVector4 color, std::string ns = "my_namespace");

        static visualization_msgs::Marker getCylinderMarker(int id, SimpleVector3 position, double w, SimpleVector3 scale,
                                                                SimpleVector4 color, std::string ns = "my_namespace");

        static visualization_msgs::Marker getTriangleListMarker(int id, std::vector<SimpleVector3> vertices, std::vector<SimpleVector4> colors,
                                                                                        std::string ns = "my_namespace");

                static void getRainbowColor(visualization_msgs::Marker &marker, double x, double alpha = 1.0);
        };
}


#endif /* MARKER_HELPER_HPP_ */