grasp_marker_publisher.h

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#ifndef _GRASP_MARKER_PUBLISHER_H_
#define _GRASP_MARKER_PUBLISHER_H_

#include <string>
#include <boost/thread/thread.hpp>
#include <boost/thread/mutex.hpp>

#include <ros/ros.h>

#include <visualization_msgs/Marker.h>

#include <geometry_msgs/PoseStamped.h>

namespace object_manipulator {

class GraspMarkerPublisher
{
 private:
  ros::NodeHandle priv_nh_;
  
  ros::Publisher marker_pub_;
  
  std::vector<visualization_msgs::Marker> grasp_markers_;

  std::string ns_append_;

  boost::thread *publishing_thread_;

  boost::mutex mutex_;

  double continuous_publishing_rate_;

  void publishingThread();

  void init(std::string marker_out_name, std::string ns_append, double publishing_rate);

 public:
  GraspMarkerPublisher();

  GraspMarkerPublisher(std::string marker_out_name, std::string ns_append, double publishing_rate);

  ~GraspMarkerPublisher();

  void clearAllMarkers();

  unsigned int addGraspMarker(const geometry_msgs::PoseStamped &marker_pose);

  void setNamespaceSuffix(std::string ns_append) { ns_append_ = ns_append; }

  void colorGraspMarker(unsigned int marker_id, float r, float g, float b);

  void setMarkerPose(unsigned int marker_id, const geometry_msgs::PoseStamped &marker_pose);
};



} //namespace object_manipulator

#endif