visualizer.h

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/*
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 *  Copyright (c) 2014, Andreas ten Pas
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#ifndef VISUALIZER_H
#define VISUALIZER_H

#include <boost/lexical_cast.hpp>
#include "cylindrical_shell.h"
#include <geometry_msgs/PoseStamped.h>
#include <tf/transform_datatypes.h>
#include <visualization_msgs/MarkerArray.h>
#include <vector>

typedef visualization_msgs::MarkerArray MarkerArray;


class Visualizer
{
public:
  Visualizer(double marker_lifetime);

  MarkerArray
  createCylinders(const std::vector<CylindricalShell> &list, const std::string &frame);

  MarkerArray
  createHandleNumbers(const std::vector<std::vector<CylindricalShell> > &handles, const std::string &frame);

  void
  createHandles(const std::vector<std::vector<CylindricalShell> > &handles, const std::string &frame,
                std::vector<MarkerArray> &marker_arrays, MarkerArray &all_handle_markers);

private:
  double marker_lifetime;
};

#endif