tesseract_ignition_visualization.h

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#ifndef TESSERACT_VISUALIZATION_IGNITION_TESSERACT_IGNITION_VISUALIZATION_H
#define TESSERACT_VISUALIZATION_IGNITION_TESSERACT_IGNITION_VISUALIZATION_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <gz/msgs/scene.pb.h>
#include <gz/msgs/boolean.pb.h>
#include <gz/transport/Node.hh>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_visualization/visualization.h>
#include <tesseract_visualization/ignition/entity_manager.h>
#include <tesseract_environment/environment.h>
 
namespace tesseract_visualization
{
class TesseractIgnitionVisualization : public tesseract_visualization::Visualization
{
public:
  using Ptr = std::shared_ptr<TesseractIgnitionVisualization>;
  using ConstPtr = std::shared_ptr<const TesseractIgnitionVisualization>;
 
  TesseractIgnitionVisualization();
 
  bool isConnected() const override;
 
  void waitForConnection(long seconds = 0) const override;
 
  void plotEnvironment(const tesseract_environment::Environment& env, std::string ns = "") override;
 
  void plotEnvironmentState(const tesseract_scene_graph::SceneState& state, std::string ns = "") override;
 
  void plotTrajectory(const tesseract_common::JointTrajectory& traj,
                      const tesseract_scene_graph::StateSolver& state_solver,
                      std::string ns = "") override;
 
  void plotMarker(const Marker& marker, std::string ns = "") override;
 
  void plotMarkers(const std::vector<std::shared_ptr<Marker>>& markers, std::string ns = "") override;
 
  void clear(std::string ns = "") override;
 
  void waitForInput(std::string message = "Hit enter key to continue!") override;
 
private:
  gz::transport::Node node_;                    
  gz::transport::Node::Publisher scene_pub_;    
  gz::transport::Node::Publisher pose_pub_;     
  gz::transport::Node::Publisher deletion_pub_; 
  EntityManager entity_manager_;
 
  void sendSceneState(const tesseract_scene_graph::SceneState& scene_state);
};
 
TESSERACT_PLUGIN_ANCHOR_DECL(IgnitionVisualizationAnchor)
 
}  // namespace tesseract_visualization
 
#endif  // TESSERACT_VISUALIZATION_IGNITION_TESSERACT_IGNITION_VISUALIZATION_H