00001 //================================================================================================= 00002 // Copyright (c) 2012, Stefan Kohlbrecher, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Simulation, Systems Optimization and Robotics 00013 // group, TU Darmstadt nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef _MAPWRITERINTERFACE_H__ 00030 #define _MAPWRITERINTERFACE_H__ 00031 00032 #include <vector> 00033 #include <Eigen/Core> 00034 00035 namespace hector_geotiff{ 00036 00037 class MapWriterInterface{ 00038 public: 00039 struct Color { 00040 Color(unsigned int r, unsigned int g, unsigned int b) : r(r), g(g), b(b) {} 00041 unsigned int r,g,b; 00042 }; 00043 00044 virtual std::string getBasePathAndFileName() const = 0; 00045 virtual void drawObjectOfInterest(const Eigen::Vector2f& coords, const std::string& txt, const Color& color) = 0; 00046 //virtual void drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points) = 0; 00047 00048 inline virtual void drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points){ 00049 drawPath(start, points, 120,0,240); 00050 } 00051 virtual void drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points, int color_r, int color_g, int color_b) = 0; 00052 00053 }; 00054 00055 } 00056 00057 #endif