route_segments.h

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#ifndef TUW_NAV_MSGS_ROUTE_SEGMENTS_H
#define TUW_NAV_MSGS_ROUTE_SEGMENTS_H
 
// ROS
#include <tuw_nav_msgs/RouteSegments.h>
#include <nav_msgs/Path.h>
 
namespace tuw
{
namespace ros_msgs
{
class RouteSegments : public tuw_nav_msgs::RouteSegments
{
public:
  RouteSegments();
  RouteSegments(size_t n);
  void set_ids(const std::vector<unsigned int> &id);
  void set_type(const std::vector<unsigned int> &type);
  void set_orientation(const std::vector<unsigned int> &orientation);
  void set_motion_type(const std::vector<unsigned int> &motion_type);
  void set_start(const std::vector<double> &x, const std::vector<double> &y, const std::vector<double> &theta);
  void set_end(const std::vector<double> &x, const std::vector<double> &y, const std::vector<double> &theta);
  void set_center(const std::vector<double> &x, const std::vector<double> &y, const std::vector<double> &theta);
  void set_level(const std::vector<int> &level);
  void convert(nav_msgs::Path &path, double sample_distance) const;
};
};
};
 
#endif  // TUW_NAV_MSGS_ROUTE_SEGMENTS_H