VectorVisualization.hpp

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/*
 * VectorVisualization.hpp
 *
 *  Created on: Sep 16, 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>

// STD
#include <vector>

namespace grid_map_visualization {

class VectorVisualization : public VisualizationBase
{
 public:

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

  virtual ~VectorVisualization();

  bool readParameters(XmlRpc::XmlRpcValue& config);

  bool initialize();

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

 private:

  visualization_msgs::Marker marker_;

  std::vector<std::string> types_;

  std::string positionLayer_;

  double scale_;

  double lineWidth_;

  std_msgs::ColorRGBA color_;
};

} /* namespace */