state_vis.h
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00001 /******************************************************************************
00002  * \file
00003  * \brief State visualization for srs_assisted_arm_navigation
00004  *
00005  * $Id:$
00006  *
00007  * Copyright (C) Brno University of Technology
00008  *
00009  * This file is part of software developed by dcgm-robotics@FIT group.
00010  *
00011  * Author: Zdenek Materna (imaterna@fit.vutbr.cz)
00012  * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
00013  * Date: 5/4/2012
00014  *
00015  * This file is free software: you can redistribute it and/or modify
00016  * it under the terms of the GNU Lesser General Public License as published by
00017  * the Free Software Foundation, either version 3 of the License, or
00018  * (at your option) any later version.
00019  *
00020  * This file is distributed in the hope that it will be useful,
00021  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00022  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00023  * GNU Lesser General Public License for more details.
00024  *
00025  * You should have received a copy of the GNU Lesser General Public License
00026  * along with this file.  If not, see <http://www.gnu.org/licenses/>.
00027  */
00028 
00029 #ifndef STATE_VIS_H_
00030 #define STATE_VIS_H_
00031 
00032 
00033 #include <ros/ros.h>
00034 #include "srs_assisted_arm_navigation_msgs/AssistedArmNavigationState.h"
00035 #include <visualization_msgs/Marker.h>
00036 #include <visualization_msgs/MarkerArray.h>
00037 
00038 namespace srs_assisted_arm_navigation_ui {
00039 
00040 class StateVis {
00041 
00042         public:
00043 
00044           StateVis();
00045           ~StateVis();
00046 
00047 
00048         protected:
00049 
00050           void stateCallback(const srs_assisted_arm_navigation_msgs::AssistedArmNavigationState::ConstPtr& msg);
00051 
00052           ros::Publisher marker_pub_;
00053           ros::Subscriber arm_nav_state_sub_;
00054 
00055           //std::vector<visualization_msgs::Marker> markers_;
00056           visualization_msgs::Marker m_;
00057           visualization_msgs::Marker j_;
00058 
00059           std_msgs::ColorRGBA color_def_;
00060           std_msgs::ColorRGBA color_err_coll_; // if in collision
00061           std_msgs::ColorRGBA color_err_out_; // if out of reach
00062 
00063         private:
00064 
00065 
00066 };
00067 
00068 
00069 }
00070 
00071 #endif /* STATE_VIS_H_ */


srs_assisted_arm_navigation_ui
Author(s): Zdenek Materna
autogenerated on Mon Oct 6 2014 08:18:44