marker_helper.h

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#ifndef MARKER_HELPER_H
#define MARKER_HELPER_H

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

namespace visualization_server {


class MarkerHelper {

private:

    double DEFAULT_MARKER_LIFETIME = 2.0;

    double marker_lifetime_;

    std::string dome_config_path_;
    std::string mild_config_path_;

    bool parseDoubleCsv(std::string csv_in, std::vector<double> &csv_out, std::string delim);

    visualization_msgs::Marker createMarker(const std::string &name, const std::string &mesh, const std::vector<double> &pose, const std::vector<double> &scale, int id, bool use_mat);

    visualization_msgs::MarkerArray parseXmlFile(std::string xml_path);

public:

    MarkerHelper() : MarkerHelper(DEFAULT_MARKER_LIFETIME, std::string(), std::string()) {}

    MarkerHelper(double marker_lifetime, const std::string &dome_config_path, const std::string &mild_config_path);

    visualization_msgs::MarkerArray getAllMarkersDome();

    visualization_msgs::MarkerArray getAllMarkersMild();

};

}

#endif /* MARKER_HELPER_H */