MapRegionVisualization.hpp

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/*
 * MapRegionVisualization.hpp
 *
 *  Created on: Jun 18, 2014
 *      Author: Péter Fankhauser
 *       Institute: ETH Zurich, ANYbotics
 */

#pragma once

#include <grid_map_visualization/visualizations/VisualizationBase.hpp>
#include <grid_map_core/GridMap.hpp>

// ROS
#include <ros/ros.h>
#include <visualization_msgs/Marker.h>
#include <std_msgs/ColorRGBA.h>

namespace grid_map_visualization {

class MapRegionVisualization : public VisualizationBase
{
 public:

  MapRegionVisualization(ros::NodeHandle& nodeHandle, const std::string& name);

  virtual ~MapRegionVisualization();

  bool readParameters(XmlRpc::XmlRpcValue& config);

  bool initialize();

  bool visualize(const grid_map::GridMap& map);

 private:

  visualization_msgs::Marker marker_;

  const unsigned int nVertices_;

  std_msgs::ColorRGBA color_;

  double lineWidth_;

};

} /* namespace */