marker_array_publisher.cpp
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35 
37 
38 namespace jsk_footstep_planner
39 {
41  {
42  pub_ = nh.advertise<visualization_msgs::MarkerArray>(topic, 1, true);
43  }
44 
45  void MarkerArrayPublisher::insert(const std::string& name, visualization_msgs::Marker marker)
46  {
47  marker.id = getID(name);
48  markers_[name] = marker;
49  }
50 
52  {
53  visualization_msgs::MarkerArray marker_array;
54  for (std::map<std::string, visualization_msgs::Marker>::iterator it = markers_.begin();
55  it != markers_.end();
56  ++it) {
57  marker_array.markers.push_back(it->second);
58  }
59  pub_.publish(marker_array);
60  }
61 
62  void MarkerArrayPublisher::clear(const std::string& name)
63  {
64  if (markers_.count(name) == 0) {
65  // do nothing
66  }
67  else {
68  visualization_msgs::Marker clear_marker;
69  clear_marker.id = getID(name);
70  clear_marker.action = visualization_msgs::Marker::DELETE;
71  markers_[name] = clear_marker;
72  }
73  }
74 
76  {
77  for (std::map<std::string, visualization_msgs::Marker>::iterator it = markers_.begin();
78  it != markers_.end();
79  ++it) {
80  clear(it->first);
81  }
82  }
83 
84  size_t MarkerArrayPublisher::getID(const std::string& name)
85  {
86  if (name_mapping_.count(name) == 0) {
87  name_mapping_[name] = name_mapping_.size();
88  }
89  else {
90  return name_mapping_[name];
91  }
92  }
93 }
void publish(const boost::shared_ptr< M > &message) const
marker_array
virtual size_t getID(const std::string &name)
std::map< std::string, size_t > name_mapping_
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
virtual void insert(const std::string &name, visualization_msgs::Marker marker)
MarkerArrayPublisher(ros::NodeHandle &nh, const std::string &topic)
std::map< std::string, visualization_msgs::Marker > markers_


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Thu Nov 14 2019 03:53:28