#include <eband_visualization.h>

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
	~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::Costmap2DROS *	costmap_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 76 of file eband_visualization.h.

Member Enumeration Documentation

enum eband_local_planner::EBandVisualization::Color

Enumerator:

blue
red
green

Definition at line 81 of file eband_visualization.h.

Constructor & Destructor Documentation

eband_local_planner::EBandVisualization::EBandVisualization ( )

Default constructor.

Definition at line 45 of file eband_visualization.cpp.

eband_local_planner::EBandVisualization::EBandVisualization	(	ros::NodeHandle &	pn,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Construct and initializes eband visualization.

Definition at line 48 of file eband_visualization.cpp.

eband_local_planner::EBandVisualization::~EBandVisualization ( )

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:

the	bubble to convert
reference	to hand back the marker
name	space under which the marker shall be published
object	id of the marker in its name space

Definition at line 247 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:

the	bubble to convert
reference	to hand back the marker
name	space under which the marker shall be published
object	id of the marker in its name space

Definition at line 205 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:

the	wrench to convert
origin	of force or wrench
reference	to hand back the marker
name	space under which the marker shall be published
object	id of the marker in its name space
color	in which the marker shall be displayed

Definition at line 289 of file eband_visualization.cpp.

void eband_local_planner::EBandVisualization::initialize	(	ros::NodeHandle &	pn,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Initializes the visualization class.

Parameters:

name	The 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:

the	name space under which the markers shall be bublished
the	shape of the markers
the	band which shall be published

Definition at line 82 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:

the	name space under which the markers shall be bublished
the	shape of the markers
the	bubble which shall be published

Definition at line 115 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:

the	name space under which the markers shall be bublished
the	shape of the markers
the	bubble which shall be published
color	in which the bubble shall be displayed

Definition at line 134 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:

the	name space under which the markers shall be bublished
the	shape of the markers
the	force which shall be published

Definition at line 186 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:

the	name space under which the markers shall be bublished
the	shape of the markers
the	list of forces which shall be published
the	list of bubbles on which the forces act (needed to get origin of force-vector)

Definition at line 153 of file eband_visualization.cpp.