visualization.cpp

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#include <swri_route_util/visualization.h>
 
#include <swri_route_util/util.h>
 
namespace vm = visualization_msgs;
namespace mnm = marti_nav_msgs;
 
namespace swri_route_util
{
static geometry_msgs::Point makePoint(const double x, const double y)
{
  geometry_msgs::Point pt;
  pt.x = x;
  pt.y = y;
  pt.z = 0.0;
  return pt;
}
 
void markerForRouteSpeeds(
  vm::Marker &m,
  const Route &route,
  const mnm::RouteSpeedArray &speeds,
  double scale)
{
  m.header.frame_id = route.header.frame_id;
  m.header.stamp = ros::Time::now();
  // m.ns = ;
  // m.id = ;
  m.type = vm::Marker::LINE_LIST;
  m.action = vm::Marker::ADD;
  m.pose.position.x = 0.0;
  m.pose.position.y = 0.0;
  m.pose.position.z = 0.0;
  m.pose.orientation.x = 0.0;
  m.pose.orientation.y = 0.0;
  m.pose.orientation.z = 0.0;
  m.pose.orientation.w = 1.0;
  m.scale.x = 1.0;
  m.scale.y = 1.0;
  m.scale.z = 1.0;
  m.color.r = 0.0;
  m.color.g = 0.0;
  m.color.b = 0.0;
  m.color.a = 1.0;
  m.lifetime = ros::Duration(0);
  m.frame_locked = false;
 
  m.points.reserve(speeds.speeds.size()*2);
 
  for (auto const &speed : speeds.speeds) {
    mnm::RoutePosition position;
    position.id = speed.id;
    position.distance = speed.distance;
 
    RoutePoint p;
    if (!interpolateRoutePosition(p, route, position, true)) {
      continue;
    }
 
    tf::Vector3 p1 = p.position();
    tf::Vector3 v = tf::Transform(p.orientation()) * tf::Vector3(0.0, 1.0, 0.0);
    tf::Vector3 p2 = p1 + scale*speed.speed*v;
 
    m.points.push_back(makePoint(p1.x(), p1.y()));
    m.points.push_back(makePoint(p2.x(), p2.y()));
  }
}
}  // namespace swri_route_util