.. _program_listing_file__tmp_ws_src_grid_map_grid_map_ros_include_grid_map_ros_PolygonRosConverter.hpp:

Program Listing for File PolygonRosConverter.hpp
================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_ros_include_grid_map_ros_PolygonRosConverter.hpp>` (``/tmp/ws/src/grid_map/grid_map_ros/include/grid_map_ros/PolygonRosConverter.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * PolygonRosConverter.hpp
    *
    *  Created on: Nov 7, 2014
    *      Author: Péter Fankhauser
    *   Institute: ETH Zurich, ANYbotics
    */
   
   #ifndef GRID_MAP_ROS__POLYGONROSCONVERTER_HPP_
   #define GRID_MAP_ROS__POLYGONROSCONVERTER_HPP_
   
   #include <grid_map_core/Polygon.hpp>
   
   // ROS
   #include <rclcpp/time.hpp>
   #include <geometry_msgs/msg/polygon_stamped.hpp>
   #include <visualization_msgs/msg/marker.hpp>
   #include <std_msgs/msg/color_rgba.hpp>
   
   // STL
   #include <string>
   
   namespace grid_map
   {
   
   class PolygonRosConverter
   {
   public:
     PolygonRosConverter();
   
     virtual ~PolygonRosConverter();
   
     static void toMessage(
       const grid_map::Polygon & polygon,
       geometry_msgs::msg::PolygonStamped & message);
   
     static void toLineMarker(
       const grid_map::Polygon & polygon, const std_msgs::msg::ColorRGBA & color,
       const double lineWidth,
       const double zCoordinate, visualization_msgs::msg::Marker & marker);
   
     static void toTriangleListMarker(
       const grid_map::Polygon & polygon, const std_msgs::msg::ColorRGBA & color,
       const double zCoordinate, visualization_msgs::msg::Marker & marker);
   };
   
   }  // namespace grid_map
   #endif  // GRID_MAP_ROS__POLYGONROSCONVERTER_HPP_