Fawkes API  Fawkes Development Version
visualization_thread.h
1 
2 /***************************************************************************
3  * visualization_thread.h - Visualization for pathplan via rviz
4  *
5  * Created: Fri Nov 11 21:17:24 2011
6  * Copyright 2011-2012 Tim Niemueller [www.niemueller.de]
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef _PLUGINS_VISPATHPLAN_VISPATHPLAN_THREAD_H_
23 #define _PLUGINS_VISPATHPLAN_VISPATHPLAN_THREAD_H_
24 
25 #include <aspect/configurable.h>
26 #include <aspect/logging.h>
27 #include <core/threading/mutex.h>
28 #include <core/threading/thread.h>
29 #include <core/utils/lockptr.h>
30 #include <navgraph/navgraph.h>
31 #include <navgraph/navgraph_path.h>
32 #include <plugins/ros/aspect/ros.h>
33 #include <ros/publisher.h>
34 #include <visualization_msgs/MarkerArray.h>
35 
38  public fawkes::LoggingAspect,
39  public fawkes::ROSAspect,
41 {
42 public:
44 
45  virtual void init();
46  virtual void loop();
47  virtual void finalize();
48 
51 
53  void set_current_edge(const std::string &from, const std::string &to);
54  void reset_plan();
55 
56  virtual void graph_changed() throw();
57 
58 private:
59  void publish();
60  void add_circle_markers(visualization_msgs::MarkerArray &m,
61  size_t & id_num,
62  float center_x,
63  float center_y,
64  float radius,
65  unsigned int arc_length,
66  float r,
67  float g,
68  float b,
69  float alpha,
70  float line_width = 0.03);
71  float edge_cost_factor(std::list<std::tuple<std::string, std::string, std::string, float>> &costs,
72  const std::string & from,
73  const std::string & to,
74  std::string &constraint_name);
75 
76 private:
77  size_t last_id_num_;
78  size_t constraints_last_id_num_;
79  ros::Publisher vispub_;
80 
81  float cfg_cost_scale_max_;
82 
84  std::string plan_to_;
85  std::string plan_from_;
86 
89 
90  std::string cfg_global_frame_;
91 };
92 
93 #endif
fawkes::LockPtr< fawkes::NavGraph >
NavGraphVisualizationThread::reset_plan
void reset_plan()
Reset the current plan.
Definition: visualization_thread.cpp:145
fawkes::NavGraph::ChangeListener
Definition: navgraph.h:181
NavGraphVisualizationThread::loop
virtual void loop()
Code to execute in the thread.
Definition: visualization_thread.cpp:173
NavGraphVisualizationThread::init
virtual void init()
Initialize the thread.
Definition: visualization_thread.cpp:52
NavGraphVisualizationThread::set_graph
void set_graph(fawkes::LockPtr< fawkes::NavGraph > &graph)
Set the graph.
Definition: visualization_thread.cpp:115
NavGraphVisualizationThread
Definition: visualization_thread.h:35
NavGraphVisualizationThread::graph_changed
virtual void graph_changed()
Definition: visualization_thread.cpp:167
fawkes::LoggingAspect
Definition: logging.h:36
NavGraphVisualizationThread::finalize
virtual void finalize()
Finalize the thread.
Definition: visualization_thread.cpp:74
NavGraphVisualizationThread::set_current_edge
void set_current_edge(const std::string &from, const std::string &to)
Set the currently executed edge of the plan.
Definition: visualization_thread.cpp:157
fawkes::ROSAspect
Definition: ros.h:37
NavGraphVisualizationThread::set_traversal
void set_traversal(fawkes::NavGraphPath::Traversal &traversal)
Set current path.
Definition: visualization_thread.cpp:136
fawkes::Thread
Definition: thread.h:44
fawkes::ConfigurableAspect
Definition: configurable.h:36
fawkes::NavGraphPath::Traversal
Definition: navgraph_path.h:42
NavGraphVisualizationThread::NavGraphVisualizationThread
NavGraphVisualizationThread()
Constructor.
Definition: visualization_thread.cpp:43
NavGraphVisualizationThread::set_constraint_repo
void set_constraint_repo(fawkes::LockPtr< fawkes::NavGraphConstraintRepo > &crepo)
Set the constraint repo.
Definition: visualization_thread.cpp:127