Public Types | Public Member Functions | Private Member Functions | Private Attributes
eband_local_planner::EBandVisualization Class Reference

#include <eband_visualization.h>

List of all members.

Public Types

enum  Color { blue, red, green }

Public Member Functions

 EBandVisualization ()
 Default constructor.
 EBandVisualization (ros::NodeHandle &pn, costmap_2d::Costmap2DROS *costmap_ros)
 Construct and initializes eband visualization.
void initialize (ros::NodeHandle &pn, costmap_2d::Costmap2DROS *costmap_ros)
 Initializes the visualization class.
void publishBand (std::string marker_name_space, std::vector< Bubble > band)
 publishes the bubbles (Position and Expansion) in a band as Marker-Array
void publishBubble (std::string marker_name_space, int marker_id, Bubble bubble)
 publishes a single bubble as a Marker
void publishBubble (std::string marker_name_space, int marker_id, Color marker_color, Bubble bubble)
 publishes a single bubble as a Marker
void publishForce (std::string marker_name_space, int id, Color marker_color, geometry_msgs::WrenchStamped force, Bubble bubble)
 publishes a single force as a Marker
void publishForceList (std::string marker_name_space, std::vector< geometry_msgs::WrenchStamped > forces, std::vector< Bubble > band)
 publishes the list of forces along the band as Marker-Array
void reconfigure (EBandPlannerConfig &config)
 Reconfigures the parameters of the planner.
 ~EBandVisualization ()
 Default destructor.

Private Member Functions

void bubbleHeadingToMarker (Bubble bubble, visualization_msgs::Marker &marker, std::string marker_name_space, int marker_id, Color marker_color)
 converts the haeding of a bubble into a Arrow-Marker msg - this is visualization-specific
void bubbleToMarker (Bubble bubble, visualization_msgs::Marker &marker, std::string marker_name_space, int marker_id, Color marker_color)
 converts a bubble into a Marker msg - this is visualization-specific
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)
 converts a wrench into a Marker msg - this is visualization-specific

Private Attributes

ros::Publisher bubble_pub_
 publishes markers to visualize bubbles of elastic band ("modified global plan")
costmap_2d::Costmap2DROScostmap_ros_
 pointer to costmap - needed to retrieve information about robot geometry
bool initialized_
double marker_lifetime_
ros::Publisher one_bubble_pub_
 publishes markers to visualize bubbles of elastic band ("modified global plan")

Detailed Description

Definition at line 77 of file eband_visualization.h.


Member Enumeration Documentation

Enumerator:
blue 
red 
green 

Definition at line 82 of file eband_visualization.h.


Constructor & Destructor Documentation

Default constructor.

Definition at line 45 of file eband_visualization.cpp.

Construct and initializes eband visualization.

Definition at line 48 of file eband_visualization.cpp.

Default destructor.

Definition at line 54 of file eband_visualization.cpp.


Member Function Documentation

void eband_local_planner::EBandVisualization::bubbleHeadingToMarker ( Bubble  bubble,
visualization_msgs::Marker &  marker,
std::string  marker_name_space,
int  marker_id,
Color  marker_color 
) [private]

converts the haeding of a bubble into a Arrow-Marker msg - this is visualization-specific

Parameters:
thebubble to convert
referenceto hand back the marker
namespace under which the marker shall be published
objectid of the marker in its name space

Definition at line 254 of file eband_visualization.cpp.

void eband_local_planner::EBandVisualization::bubbleToMarker ( Bubble  bubble,
visualization_msgs::Marker &  marker,
std::string  marker_name_space,
int  marker_id,
Color  marker_color 
) [private]

converts a bubble into a Marker msg - this is visualization-specific

Parameters:
thebubble to convert
referenceto hand back the marker
namespace under which the marker shall be published
objectid of the marker in its name space

Definition at line 212 of file eband_visualization.cpp.

void eband_local_planner::EBandVisualization::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 
) [private]

converts a wrench into a Marker msg - this is visualization-specific

Parameters:
thewrench to convert
originof force or wrench
referenceto hand back the marker
namespace under which the marker shall be published
objectid of the marker in its name space
colorin which the marker shall be displayed

Definition at line 296 of file eband_visualization.cpp.

Initializes the visualization class.

Parameters:
nameThe name to give this instance (important for publishing)

Definition at line 57 of file eband_visualization.cpp.

void eband_local_planner::EBandVisualization::publishBand ( std::string  marker_name_space,
std::vector< Bubble band 
)

publishes the bubbles (Position and Expansion) in a band as Marker-Array

Parameters:
thename space under which the markers shall be bublished
theshape of the markers
theband which shall be published

Definition at line 89 of file eband_visualization.cpp.

void eband_local_planner::EBandVisualization::publishBubble ( std::string  marker_name_space,
int  marker_id,
Bubble  bubble 
)

publishes a single bubble as a Marker

Parameters:
thename space under which the markers shall be bublished
theshape of the markers
thebubble which shall be published

Definition at line 122 of file eband_visualization.cpp.

void eband_local_planner::EBandVisualization::publishBubble ( std::string  marker_name_space,
int  marker_id,
Color  marker_color,
Bubble  bubble 
)

publishes a single bubble as a Marker

Parameters:
thename space under which the markers shall be bublished
theshape of the markers
thebubble which shall be published
colorin which the bubble shall be displayed

Definition at line 141 of file eband_visualization.cpp.

void eband_local_planner::EBandVisualization::publishForce ( std::string  marker_name_space,
int  id,
Color  marker_color,
geometry_msgs::WrenchStamped  force,
Bubble  bubble 
)

publishes a single force as a Marker

Parameters:
thename space under which the markers shall be bublished
theshape of the markers
theforce which shall be published

Definition at line 193 of file eband_visualization.cpp.

void eband_local_planner::EBandVisualization::publishForceList ( std::string  marker_name_space,
std::vector< geometry_msgs::WrenchStamped >  forces,
std::vector< Bubble band 
)

publishes the list of forces along the band as Marker-Array

Parameters:
thename space under which the markers shall be bublished
theshape of the markers
thelist of forces which shall be published
thelist of bubbles on which the forces act (needed to get origin of force-vector)

Definition at line 160 of file eband_visualization.cpp.

void eband_local_planner::EBandVisualization::reconfigure ( EBandPlannerConfig &  config)

Reconfigures the parameters of the planner.

Parameters:
configThe dynamic reconfigure configuration

Definition at line 82 of file eband_visualization.cpp.


Member Data Documentation

publishes markers to visualize bubbles of elastic band ("modified global plan")

Definition at line 162 of file eband_visualization.h.

pointer to costmap - needed to retrieve information about robot geometry

Definition at line 159 of file eband_visualization.h.

Definition at line 166 of file eband_visualization.h.

Definition at line 169 of file eband_visualization.h.

publishes markers to visualize bubbles of elastic band ("modified global plan")

Definition at line 163 of file eband_visualization.h.


The documentation for this class was generated from the following files:


eband_local_planner
Author(s): Christian Connette, Bhaskara Marthi, Piyush Khandelwal
autogenerated on Thu Jun 6 2019 18:50:52