visualization.h

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 * Author: Christoph Rösmann
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#ifndef VISUALIZATION_H_
#define VISUALIZATION_H_
 
 
 
// teb stuff
#include <teb_local_planner/teb_config.h>
#include <teb_local_planner/timed_elastic_band.h>
#include <teb_local_planner/robot_footprint_model.h>
 
// ros stuff
#include <ros/publisher.h>
#include <base_local_planner/goal_functions.h>
 
// boost
#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/graph_traits.hpp>
 
// std
#include <iterator>
 
// messages
#include <nav_msgs/Path.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PoseArray.h>
#include <std_msgs/ColorRGBA.h>
#include <tf/transform_datatypes.h>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/Path.h>
#include <visualization_msgs/Marker.h>
 
namespace teb_local_planner
{
  
class TebOptimalPlanner; 
 
  
class TebVisualization
{
public:
    
  TebVisualization();
  
  TebVisualization(ros::NodeHandle& nh, const TebConfig& cfg);
  
  void initialize(ros::NodeHandle& nh, const TebConfig& cfg);
  
  
  
  void publishGlobalPlan(const std::vector<geometry_msgs::PoseStamped>& global_plan) const;
  
  void publishLocalPlan(const std::vector<geometry_msgs::PoseStamped>& local_plan) const;
  
  void publishLocalPlanAndPoses(const TimedElasticBand& teb) const;
  
  void publishRobotFootprintModel(const PoseSE2& current_pose, const BaseRobotFootprintModel& robot_model, const std::string& ns = "RobotFootprintModel",
                                  const std_msgs::ColorRGBA& color = toColorMsg(0.5, 0.0, 0.8, 0.0));
 
  void publishRobotFootprint(const PoseSE2& current_pose, const std::vector<geometry_msgs::Point>& footprint,
                             const std::string& ns, const std_msgs::ColorRGBA &color);
 
  void publishInfeasibleRobotPose(const PoseSE2& infeasible_pose, const BaseRobotFootprintModel& robot_model,
                                  const std::vector<geometry_msgs::Point>& footprint);
 
  void publishObstacles(const ObstContainer& obstacles, double scale = 0.1) const;
 
  void publishViaPoints(const std::vector< Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> >& via_points, const std::string& ns = "ViaPoints") const;
  
  template <typename GraphType>
  void publishGraph(const GraphType& graph, const std::string& ns_prefix = "Graph");
  
  template <typename BidirIter>
  void publishPathContainer(BidirIter first, BidirIter last, const std::string& ns = "PathContainer");
  
  void publishTebContainer(const std::vector< boost::shared_ptr<TebOptimalPlanner> >& teb_planner, const std::string& ns = "TebContainer");
    
  void publishFeedbackMessage(const std::vector< boost::shared_ptr<TebOptimalPlanner> >& teb_planners, unsigned int selected_trajectory_idx, const ObstContainer& obstacles);
  
  void publishFeedbackMessage(const TebOptimalPlanner& teb_planner, const ObstContainer& obstacles);
  
 
  static std_msgs::ColorRGBA toColorMsg(double a, double r, double g, double b);
  
protected:
  
  bool printErrorWhenNotInitialized() const;
 
  ros::Publisher global_plan_pub_; 
  ros::Publisher local_plan_pub_; 
  ros::Publisher teb_poses_pub_; 
  ros::Publisher teb_marker_pub_; 
  ros::Publisher feedback_pub_; 
  
  const TebConfig* cfg_; 
  
  bool initialized_; 
 
    
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW    
};
 
typedef boost::shared_ptr<TebVisualization> TebVisualizationPtr;
 
typedef boost::shared_ptr<const TebVisualization> TebVisualizationConstPtr;
 
 
} // namespace teb_local_planner
 
 
// Include template method implementations / definitions
#include <teb_local_planner/visualization.hpp>
 
#endif /* VISUALIZATION_H_ */