CoordinateFrameVisualizer.h

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# pragma once

// Global includes
#include <map>
#include <vector>

// Package includes
#include <ros/ros.h>
#include <std_msgs/ColorRGBA.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/Eigenvalues>

#include <Pose.h>
#include <ISM/common_type/Pose.hpp>

// Local includes
#include "visualization/psm/helper/AbstractVisualizer.h"

namespace Visualization
{
  class CoordinateFrameVisualizer : public AbstractVisualizer
  {
  public:
    
    CoordinateFrameVisualizer();
    
    ~CoordinateFrameVisualizer();
    
    void publishFrame(boost::shared_ptr<ros::Publisher> pPublisher,
                      unsigned int& pMarkerId,
              const boost::shared_ptr<ISM::Pose> pPose,
                      double pSize);
    
  private:
    
    visualization_msgs::Marker generateAxis(const unsigned int pMarkerId,
                                             const unsigned int pAxis,
                         const boost::shared_ptr<ISM::Pose> pPose,
                                             double pSize);
  };
}