waypoint_markers.hh

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/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#pragma once

#include <string>
#include <sdf/sdf.hh>
#include <gazebo/gazebo.hh>
#include <ignition/math/Vector3.hh>

#if GAZEBO_MAJOR_VERSION >= 8
  #include <ignition/msgs.hh>
  #include <ignition/transport.hh>
#endif

class WaypointMarkers
{
  public: explicit WaypointMarkers(std::string _namespace);

  public: void Load(sdf::ElementPtr _sdf);

  public: bool IsAvailable();

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

  private: std::string ns;

  private: std::string material;

  private: ignition::math::Vector3d scaling;

  private: double height;

#if GAZEBO_MAJOR_VERSION >= 8
  ignition::transport::Node node;
#endif
};