MapRegionVisualization.hpp
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00001 /*
00002  * MapRegionVisualization.hpp
00003  *
00004  *  Created on: Jun 18, 2014
00005  *      Author: Péter Fankhauser
00006  *       Institute: ETH Zurich, Autonomous Systems Lab
00007  */
00008 
00009 #pragma once
00010 
00011 #include <grid_map_visualization/visualizations/VisualizationBase.hpp>
00012 #include <grid_map_core/GridMap.hpp>
00013 
00014 // ROS
00015 #include <ros/ros.h>
00016 #include <visualization_msgs/Marker.h>
00017 #include <std_msgs/ColorRGBA.h>
00018 
00019 namespace grid_map_visualization {
00020 
00024 class MapRegionVisualization : public VisualizationBase
00025 {
00026  public:
00027 
00033   MapRegionVisualization(ros::NodeHandle& nodeHandle, const std::string& name);
00034 
00038   virtual ~MapRegionVisualization();
00039 
00045   bool readParameters(XmlRpc::XmlRpcValue& config);
00046 
00050   bool initialize();
00051 
00057   bool visualize(const grid_map::GridMap& map);
00058 
00059  private:
00060 
00062   visualization_msgs::Marker marker_;
00063 
00065   const unsigned int nVertices_;
00066 
00068   std_msgs::ColorRGBA color_;
00069 
00071   double lineWidth_;
00072 
00073 };
00074 
00075 } /* namespace */


grid_map_visualization
Author(s): Péter Fankhauser
autogenerated on Mon Oct 9 2017 03:09:35