eband_visualization.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2010, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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00034 *
00035 * Author: Christian Connette
00036 *********************************************************************/
00037 
00038 #ifndef EBAND_VISUALIZATION_H_
00039 #define EBAND_VISUALIZATION_H_
00040 
00041 
00042 #include <ros/ros.h>
00043 
00044 // classes wich are part of this pkg
00045 #include <eband_local_planner/conversions_and_types.h>
00046 
00047 // msgs
00048 #include <geometry_msgs/Pose2D.h>
00049 #include <geometry_msgs/Pose.h>
00050 #include <geometry_msgs/PoseStamped.h>
00051 #include <geometry_msgs/Wrench.h>
00052 #include <geometry_msgs/WrenchStamped.h>
00053 
00054 #include <visualization_msgs/Marker.h>
00055 #include <visualization_msgs/MarkerArray.h>
00056 
00057 // transforms
00058 #include <angles/angles.h>
00059 #include <tf/tf.h>
00060 #include <tf_conversions/tf_eigen.h>
00061 
00062 // costmap & geometry
00063 #include <costmap_2d/costmap_2d_ros.h>
00064 
00065 // Eigen library for geometric operation
00066 #include <Eigen/Core>
00067 #include <Eigen/Geometry>
00068 
00069 
00070 namespace eband_local_planner{
00071 
00076 class EBandVisualization{
00077 
00078         public:
00079 
00080                 // typedefs
00081                 enum Color {blue, red, green};
00082 
00083 
00084                 // methods
00085 
00089                 EBandVisualization();
00090 
00094                 EBandVisualization(ros::NodeHandle& pn, costmap_2d::Costmap2DROS* costmap_ros);
00095 
00099                 ~EBandVisualization();
00100 
00105                 void initialize(ros::NodeHandle& pn, costmap_2d::Costmap2DROS* costmap_ros);
00106 
00113                 void publishBand(std::string marker_name_space, std::vector<Bubble> band);
00114 
00121                 void publishBubble(std::string marker_name_space, int marker_id, Bubble bubble);
00122 
00130                 void publishBubble(std::string marker_name_space, int marker_id, Color marker_color, Bubble bubble);
00131 
00139                 void publishForceList(std::string marker_name_space, std::vector<geometry_msgs::WrenchStamped> forces, std::vector<Bubble> band);
00140 
00147                 void publishForce(std::string marker_name_space, int id, Color marker_color, geometry_msgs::WrenchStamped force, Bubble bubble);
00148 
00149         private:
00150                 
00151                 // external objects
00152                 costmap_2d::Costmap2DROS* costmap_ros_; 
00153 
00154                 // Topics & Services
00155                 ros::Publisher bubble_pub_; 
00156                 ros::Publisher one_bubble_pub_; 
00157 
00158                 // flags
00159                 bool initialized_;
00160 
00161                 // parameters
00162                 double marker_lifetime_;
00163 
00164 
00165                 // methods
00166 
00174                 void bubbleToMarker(Bubble bubble, visualization_msgs::Marker& marker, std::string marker_name_space, int marker_id, Color marker_color);
00175 
00183                 void bubbleHeadingToMarker(Bubble bubble, visualization_msgs::Marker& marker, std::string marker_name_space, int marker_id, Color marker_color);
00184 
00194                 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);
00195 
00196 };
00197 };
00198 #endif


eband_local_planner
Author(s): Christian Connette, Bhaskara Marthi
autogenerated on Fri Jan 3 2014 11:34:16