visualization.h

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#ifndef SWRI_ROUTE_UTIL_VISUALIZATION_H_
#define SWRI_ROUTE_UTIL_VISUALIZATION_H_

#include <swri_route_util/route.h>
#include <marti_nav_msgs/RouteSpeedArray.h>
#include <visualization_msgs/Marker.h>

namespace swri_route_util
{
// Create a marker for a set of speeds along a route.  Each speed will
// be drawn as a line that starts at the speed's location and extends
// perpendicular to the route.  The length of the line corresponds to
// the speed.  The scale parameter sets the length per m/s scale.  The
// marker's namespace and id will still need to be filled out. The
// line colors defaults to black but can be changed after the marker
// has been built.
void markerForRouteSpeeds(
  visualization_msgs::Marker &marker,
  const Route &route,
    const marti_nav_msgs::RouteSpeedArray &speeds,
    double scale);
}  // namespace swri_route_util
#endif  // SWRI_ROUTE_UTIL_VISUALIZATION_H_