shape_tools.cpp

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#include <ros/ros.h>

#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

#include "object_manipulator/tools/msg_helpers.h"
#include "object_manipulator/tools/shape_tools.h"

namespace object_manipulator {

void drawCylinder (ros::Publisher &pub, const shapes::Cylinder &shape, const char *ns,
              int id, const ros::Duration lifetime, const std_msgs::ColorRGBA color, bool destroy, bool frame_locked)
{
    visualization_msgs::Marker marker;
    marker.header = shape.header;
    marker.ns = ns;
    marker.id = id;
    marker.type = visualization_msgs::Marker::CYLINDER; // CUBE, SPHERE, ARROW, CYLINDER
    marker.action = destroy?((int32_t)visualization_msgs::Marker::DELETE):((int32_t)visualization_msgs::Marker::ADD);
    tf::poseTFToMsg(shape.frame, marker.pose);
    tf::vector3TFToMsg(shape.dims, marker.scale);
    marker.color = color;
    marker.lifetime = lifetime;
    marker.frame_locked = frame_locked;
    pub.publish(marker);
}

void drawBox (ros::Publisher &pub, const shapes::Box &shape, const char *ns,
              int id, const ros::Duration lifetime, const std_msgs::ColorRGBA color, bool destroy, bool frame_locked)
{
    visualization_msgs::Marker marker;
    marker.header = shape.header;
    marker.ns = ns;
    marker.id = id;
    marker.type = visualization_msgs::Marker::CUBE; // CUBE, SPHERE, ARROW, CYLINDER
    marker.action = destroy?((int32_t)visualization_msgs::Marker::DELETE):((int32_t)visualization_msgs::Marker::ADD);
    tf::poseTFToMsg(shape.frame, marker.pose);
    tf::vector3TFToMsg(shape.dims, marker.scale);
    marker.color = color;
    marker.lifetime = lifetime;
    marker.frame_locked = frame_locked;
    pub.publish(marker);
}

void drawSphere (ros::Publisher &pub, const shapes::Sphere &shape, const char *ns,
              int id, const ros::Duration lifetime, const std_msgs::ColorRGBA color, bool destroy, bool frame_locked)
{
    visualization_msgs::Marker marker;
    marker.header = shape.header;
    marker.ns = ns;
    marker.id = id;
    marker.type = visualization_msgs::Marker::SPHERE; // CUBE, SPHERE, ARROW, CYLINDER
    marker.action = destroy?((int32_t)visualization_msgs::Marker::DELETE):((int32_t)visualization_msgs::Marker::ADD);
    tf::poseTFToMsg(shape.frame, marker.pose);
    tf::vector3TFToMsg(shape.dims, marker.scale);
    marker.color = color;
    marker.lifetime = lifetime;
    marker.frame_locked = frame_locked;
    pub.publish(marker);
}

void drawArrow (ros::Publisher &pub, const shapes::Arrow &shape, const char *ns,
              int id, const ros::Duration lifetime, const std_msgs::ColorRGBA color, bool destroy, bool frame_locked)
{
    visualization_msgs::Marker marker;
    marker.header = shape.header;
    marker.ns = ns;
    marker.id = id;
    marker.type = visualization_msgs::Marker::ARROW; // CUBE, SPHERE, ARROW, CYLINDER
    marker.action = destroy?((int32_t)visualization_msgs::Marker::DELETE):((int32_t)visualization_msgs::Marker::ADD);
    tf::poseTFToMsg(shape.frame, marker.pose);
    tf::vector3TFToMsg(shape.dims, marker.scale);
    marker.color = color;
    marker.lifetime = lifetime;
    marker.frame_locked = frame_locked;
    pub.publish(marker);
}

void drawMesh (ros::Publisher &pub, const shapes::Mesh &shape, const char *ns,
              int id, const ros::Duration lifetime, const std_msgs::ColorRGBA color, bool destroy, bool frame_locked)
{
    visualization_msgs::Marker marker;
    marker.header = shape.header;
    marker.ns = ns;
    marker.id = id;
    marker.type = visualization_msgs::Marker::MESH_RESOURCE; // CUBE, SPHERE, ARROW, CYLINDER
    marker.mesh_resource = shape.mesh_resource;
    marker.mesh_use_embedded_materials = shape.use_embedded_materials;
    marker.action = destroy?((int32_t)visualization_msgs::Marker::DELETE):((int32_t)visualization_msgs::Marker::ADD);
    tf::poseTFToMsg(shape.frame, marker.pose);
    tf::vector3TFToMsg(shape.dims, marker.scale);
    marker.color = color;
    marker.lifetime = lifetime;
    marker.frame_locked = frame_locked;
    pub.publish(marker);
}

} // namespace object_manipulator