Class PolygonRosConverter

Class Documentation

class PolygonRosConverter

Public Functions

PolygonRosConverter()

Default constructor.

virtual ~PolygonRosConverter()

Constructor with vertices.

Parameters:

vertices – the points of the polygon.

Public Static Functions

static void toMessage(const grid_map::Polygon &polygon, geometry_msgs::msg::PolygonStamped &message)

Converts a polygon object to a ROS PolygonStamped message.

Parameters:

  • polygon – [in] the polygon object.

  • message – [out] the ROS PolygonStamped message to be populated.

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)

Converts a polygon object to a ROS line strip marker message.

Parameters:

  • polygon – [in] the polygon object.

  • color – [in] the desired color of the marker.

  • lineWidth – [in] the with of the line marker.

  • zCoordinate – [in] z-coordinate of the planar polygon.

  • marker – [out] the ROS marker message to be populated.

static void toTriangleListMarker(const grid_map::Polygon &polygon, const std_msgs::msg::ColorRGBA &color, const double zCoordinate, visualization_msgs::msg::Marker &marker)

Converts a polygon object to a ROS triangle list marker message.

Parameters:

  • polygon – [in] the polygon object.

  • color – [in] the desired color of the marker.

  • zCoordinate – [in] z-coordinate of the planar polygon.

  • marker – [out] the ROS marker message to be populated.