eband_visualization.h

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#ifndef EBAND_VISUALIZATION_H_
#define EBAND_VISUALIZATION_H_


#include <ros/ros.h>

// classes wich are part of this pkg
#include <eband_local_planner/conversions_and_types.h>
#include <eband_local_planner/EBandPlannerConfig.h>

// msgs
#include <geometry_msgs/Pose2D.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Wrench.h>
#include <geometry_msgs/WrenchStamped.h>

#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

// transforms
#include <angles/angles.h>
#include <tf2/convert.h>
#include <tf2_eigen/tf2_eigen.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2/LinearMath/Quaternion.h>

// costmap & geometry
#include <costmap_2d/costmap_2d_ros.h>

// Eigen library for geometric operation
#include <Eigen/Core>
#include <Eigen/Geometry>


namespace eband_local_planner{

  class EBandVisualization{

    public:

      // typedefs
      enum Color {blue, red, green};


      // methods

      EBandVisualization();

      EBandVisualization(ros::NodeHandle& pn, costmap_2d::Costmap2DROS* costmap_ros);

      ~EBandVisualization();

      void initialize(ros::NodeHandle& pn, costmap_2d::Costmap2DROS* costmap_ros);

      void reconfigure(EBandPlannerConfig& config);

      void publishBand(std::string marker_name_space, std::vector<Bubble> band);

      void publishBubble(std::string marker_name_space, int marker_id, Bubble bubble);

      void publishBubble(std::string marker_name_space, int marker_id, Color marker_color, Bubble bubble);

      void publishForceList(std::string marker_name_space, std::vector<geometry_msgs::WrenchStamped> forces, std::vector<Bubble> band);

      void publishForce(std::string marker_name_space, int id, Color marker_color, geometry_msgs::WrenchStamped force, Bubble bubble);

    private:

      // external objects
      costmap_2d::Costmap2DROS* costmap_ros_; 

      // Topics & Services
      ros::Publisher bubble_pub_; 
      ros::Publisher one_bubble_pub_; 

      // flags
      bool initialized_;

      // parameters
      double marker_lifetime_;


      // methods

      void bubbleToMarker(Bubble bubble, visualization_msgs::Marker& marker, std::string marker_name_space, int marker_id, Color marker_color);

      void bubbleHeadingToMarker(Bubble bubble, visualization_msgs::Marker& marker, std::string marker_name_space, int marker_id, Color marker_color);

      void forceToMarker(geometry_msgs::WrenchStamped wrench, geometry_msgs::Pose wrench_origin, visualization_msgs::Marker& marker, std::string marker_name_space, int marker_id, Color marker_color);

  };
};
#endif