generic_control_toolbox::MarkerManager Class Reference

#include <marker_manager.hpp>

Inheritance diagram for generic_control_toolbox::MarkerManager:

Public Member Functions
bool	addMarker (const std::string &group_key, const std::string &marker_name, const std::string &ns, const std::string &frame_id, MarkerType type)
bool	addMarkerGroup (const std::string &group_key, const std::string &topic_name)
	MarkerManager ()
void	publishMarkers ()
bool	setMarkerColor (const std::string &group_key, const std::string &marker_name, double r, double g, double b)
bool	setMarkerPoints (const std::string &group_key, const std::string &marker_name, const Eigen::Vector3d &initial_point, const Eigen::Vector3d &final_point)
bool	setMarkerPose (const std::string &group_key, const std::string &marker_name, const Eigen::Affine3d &pose)
bool	setMarkerScale (const std::string &group_key, const std::string &marker_name, double x, double y, double z)
	~MarkerManager ()
Public Member Functions inherited from generic_control_toolbox::ManagerBase
	ManagerBase ()
virtual	~ManagerBase ()

Private Member Functions
bool	getMarkerId (const std::string &group_key, const std::string &marker_name, int &id) const

Private Attributes
std::map< std::string, visualization_msgs::MarkerArray >	marker_array_
std::map< std::string, std::map< std::string, int > >	marker_map_
std::map< std::string, std::shared_ptr< realtime_tools::RealtimePublisher< visualization_msgs::MarkerArray > > >	marker_pub_
ros::NodeHandle	n_

Detailed Description

Maintains a set of common resources for filling in a MarkerArray msg

Definition at line 21 of file marker_manager.hpp.

Constructor & Destructor Documentation

generic_control_toolbox::MarkerManager::MarkerManager

(

)

Definition at line 5 of file marker_manager.cpp.

generic_control_toolbox::MarkerManager::~MarkerManager

(

)

Definition at line 7 of file marker_manager.cpp.

Member Function Documentation

bool generic_control_toolbox::MarkerManager::addMarker	(	const std::string &	group_key,
		const std::string &	marker_name,
		const std::string &	ns,
		const std::string &	frame_id,
		MarkerType	type
	)

Initializes a marker in the marker array with default color and scale.

Parameters

group_key	The marker group key.
marker_name	Name for indexing purposes.
ns	the namespace of the new marker.
frame_id	The frame on which the marker is expressed.
type	The marker type.

Returns

False is marker_name is already added.

Definition at line 31 of file marker_manager.cpp.

bool generic_control_toolbox::MarkerManager::addMarkerGroup	(	const std::string &	group_key,
		const std::string &	topic_name
	)

Initializes a new marker group, including a new realtime publisher for the group.

Parameters

group_key	The new marker group key.
topic_name	The topic name under which the marker group will be published.

Returns

False if something goes wrong, true otherwise.

Definition at line 9 of file marker_manager.cpp.

bool generic_control_toolbox::MarkerManager::getMarkerId ( const std::string &  group_key, const std::string &  marker_name, int &  id  ) const

private

Returns the marker id indexed by the marker_name

Parameters

group_key

The marker group key.

Returns

False if marker not found.

Definition at line 188 of file marker_manager.cpp.

void generic_control_toolbox::MarkerManager::publishMarkers

(

)

Publishes the marker array. RT safe.

Definition at line 176 of file marker_manager.cpp.

bool generic_control_toolbox::MarkerManager::setMarkerColor	(	const std::string &	group_key,
		const std::string &	marker_name,
		double	r,
		double	g,
		double	b
	)

Sets the indexed marker color.

Parameters

group_key	The marker group key.
marker_name	Name for indexing purposes.

Returns

False if marker_name is not found.

Definition at line 90 of file marker_manager.cpp.

bool generic_control_toolbox::MarkerManager::setMarkerPoints	(	const std::string &	group_key,
		const std::string &	marker_name,
		const Eigen::Vector3d &	initial_point,
		const Eigen::Vector3d &	final_point
	)

Fills a marker with the given initial and end point. Clears existing points.

Parameters

group_key	The marker group key.
marker_name	Name for indexing purposes.
initial_point	Initial point of the marker
final_point	Initial point of the marker

Returns

False if marker_name is not found or if marker type does not allow to set points.

Definition at line 132 of file marker_manager.cpp.

bool generic_control_toolbox::MarkerManager::setMarkerPose	(	const std::string &	group_key,
		const std::string &	marker_name,
		const Eigen::Affine3d &	pose
	)

Fills a marker with the given pose.

Parameters

group_key	The marker group key.
marker_name	Name for indexing purposes.
pose	The marker pose.

Returns

False if marker_name is not found or if marker type does not allow to set pose.

Definition at line 157 of file marker_manager.cpp.

bool generic_control_toolbox::MarkerManager::setMarkerScale	(	const std::string &	group_key,
		const std::string &	marker_name,
		double	x,
		double	y,
		double	z
	)

Sets the marker scale.

Parameters

group_key	The marker group key.
marker_name	Name for indexing purposes.

Returns

false if marker_name is not found.

Definition at line 111 of file marker_manager.cpp.

Member Data Documentation

std::map<std::string, visualization_msgs::MarkerArray> generic_control_toolbox::MarkerManager::marker_array_

private

Definition at line 111 of file marker_manager.hpp.

std::map<std::string, std::map<std::string, int> > generic_control_toolbox::MarkerManager::marker_map_

private

Definition at line 110 of file marker_manager.hpp.

std::map<std::string, std::shared_ptr<realtime_tools::RealtimePublisher< visualization_msgs::MarkerArray> > > generic_control_toolbox::MarkerManager::marker_pub_

private

Definition at line 114 of file marker_manager.hpp.

ros::NodeHandle generic_control_toolbox::MarkerManager::n_

private

Definition at line 115 of file marker_manager.hpp.

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

• marker_manager.hpp
• marker_manager.cpp