world_model_visualizer_rviz.hpp

Go to the documentation of this file.

#pragma once

//Pkg includes
#include <boost/shared_ptr.hpp>
#include <ros/ros.h>
#include <visualization_msgs/MarkerArray.h>
#include <asr_msgs/AsrObject.h>

#include <eigen_conversions/eigen_msg.h>
#include <boost/filesystem.hpp>

namespace world_model
{
class WorldModelVisualizerRVIZ
{
private:
    ros::Publisher publisher_;
    unsigned int marker_id_;
    visualization_msgs::MarkerArray marker_array_;

    inline void addMarker(visualization_msgs::Marker &marker)
    {
        marker.id = marker_id_++;
        marker_array_.markers.push_back(marker);
    }
public:
    WorldModelVisualizerRVIZ(ros::Publisher publisher):
        publisher_(publisher),
        marker_id_(0)
    {}
    inline void publishCollectedMarkers()
    {
        publisher_.publish(marker_array_);
    }
    void clearLastPublication();
    void addFoundObjectVisualization(const asr_msgs::AsrObject &pbd_object, const bool &visualizeSampledPoses);
};
typedef boost::shared_ptr<WorldModelVisualizerRVIZ> WorldModelVisualizerRVIZPtr;
}