Program Listing for File visualization.h
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#ifndef SWRI_ROUTE_UTIL_VISUALIZATION_H_
#define SWRI_ROUTE_UTIL_VISUALIZATION_H_
#include <swri_route_util/route.h>
#include <marti_nav_msgs/msg/route_speed_array.hpp>
#include <visualization_msgs/msg/marker.hpp>
namespace swri_route_util
{
// Create a marker for a set of speeds along a route. Each speed will
// be drawn as a line that starts at the speed's location and extends
// perpendicular to the route. The length of the line corresponds to
// the speed. The scale parameter sets the length per m/s scale. The
// marker's namespace and id will still need to be filled out. The
// line colors defaults to black but can be changed after the marker
// has been built.
void markerForRouteSpeeds(
visualization_msgs::msg::Marker &marker,
const Route &route,
const marti_nav_msgs::msg::RouteSpeedArray &speeds,
double scale);
} // namespace swri_route_util
#endif // SWRI_ROUTE_UTIL_VISUALIZATION_H_