visualization.h
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00001 // *****************************************************************************
00002 //
00003 // Copyright (c) 2017, Southwest Research Institute® (SwRI®)
00004 // All rights reserved.
00005 //
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00007 // modification, are permitted provided that the following conditions are met:
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00010 //     * Redistributions in binary form must reproduce the above copyright
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00012 //       documentation and/or other materials provided with the distribution.
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00029 #ifndef SWRI_ROUTE_UTIL_VISUALIZATION_H_
00030 #define SWRI_ROUTE_UTIL_VISUALIZATION_H_
00031 
00032 #include <swri_route_util/route.h>
00033 #include <marti_nav_msgs/RouteSpeedArray.h>
00034 #include <visualization_msgs/Marker.h>
00035 
00036 namespace swri_route_util
00037 {
00038 // Create a marker for a set of speeds along a route.  Each speed will
00039 // be drawn as a line that starts at the speed's location and extends
00040 // perpendicular to the route.  The length of the line corresponds to
00041 // the speed.  The scale parameter sets the length per m/s scale.  The
00042 // marker's namespace and id will still need to be filled out. The
00043 // line colors defaults to black but can be changed after the marker
00044 // has been built.
00045 void markerForRouteSpeeds(
00046   visualization_msgs::Marker &marker,
00047   const Route &route,
00048     const marti_nav_msgs::RouteSpeedArray &speeds,
00049     double scale);
00050 }  // namespace swri_route_util
00051 #endif  // SWRI_ROUTE_UTIL_VISUALIZATION_H_


swri_route_util
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autogenerated on Tue Oct 3 2017 03:19:53