WaypointMarkers Class Reference

This class is used to display waypoint markers. Cylindrical Gazebo markers are drawn with text on top. More...

#include <waypoint_markers.hh>

Public Member Functions
bool	DrawMarker (int _marker_id, double _x, double _y, double _yaw, std::string _text="")
	Draw waypoint marker in Gazebo. More...
bool	IsAvailable ()
	Returns if markers are available for current system. More...
void	Load (sdf::ElementPtr _sdf)
	Load marker parameters from SDF. More...
	WaypointMarkers (std::string _namespace)
	Constructor. More...

Private Attributes
double	height
	Height of marker above water. More...
std::string	material
	Name of Gazebo material for marker. More...
std::string	ns
	Namespace for Gazebo markers. More...
ignition::math::Vector3d	scaling
	Scaling factor for cylinder marker. More...

Detailed Description

This class is used to display waypoint markers. Cylindrical Gazebo markers are drawn with text on top.

The marker properties can be set using sdf: material: Optional parameter (string type) to specify the material for marker. Default: Gazebo/Green scaling: Optional parameter (vector type) to specify marker scaling. Default: 0.2 0.2 1.5 height: Optional parameter (double type) height of marker above water E.g. <markers> <material>Gazebo/Green</material> <scaling>0.2 0.2 2.0</scaling> <height>0.5</height> </markers>

Definition at line 46 of file waypoint_markers.hh.

Constructor & Destructor Documentation

WaypointMarkers::WaypointMarkers ( std::string  _namespace )

explicit

Constructor.

Parameters

[in]

_namespace

Marker namespace

Definition at line 21 of file waypoint_markers.cc.

Member Function Documentation

bool WaypointMarkers::DrawMarker	(	int	_marker_id,
		double	_x,
		double	_y,
		double	_yaw,
		std::string	_text = ""
	)

Draw waypoint marker in Gazebo.

Parameters

[in]	_marker_id	Unique marker id for waypoint
[in]	_x	X coordinate of waypoint marker
[in]	_y	Y coordinate of waypoint marker
[in]	_yaw	orientation of waypoint marker in radians
[in]	_text	(optional) Text above waypoint marker

Returns

Returns true if marker is successfully sent to Gazebo

Definition at line 56 of file waypoint_markers.cc.

bool WaypointMarkers::IsAvailable

(

)

Returns if markers are available for current system.

Returns

Returns true if Gazebo version >= 8

Definition at line 46 of file waypoint_markers.cc.

void WaypointMarkers::Load

(

sdf::ElementPtr

_sdf

)

Load marker parameters from SDF.

Parameters

[in]

_sdf

SDF element pointer with marker parameters

Definition at line 27 of file waypoint_markers.cc.

Member Data Documentation

double WaypointMarkers::height

private

Height of marker above water.

Definition at line 80 of file waypoint_markers.hh.

std::string WaypointMarkers::material

private

Name of Gazebo material for marker.

Definition at line 74 of file waypoint_markers.hh.

std::string WaypointMarkers::ns

private

Namespace for Gazebo markers.

Definition at line 71 of file waypoint_markers.hh.

ignition::math::Vector3d WaypointMarkers::scaling

private

Scaling factor for cylinder marker.

Definition at line 77 of file waypoint_markers.hh.

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The documentation for this class was generated from the following files:

• waypoint_markers.hh
• waypoint_markers.cc