Fawkes API  Fawkes Development Version
visualization_thread.h
1 
2 /***************************************************************************
3  * visualization_thread.h - Visualization for navgraph-generator via rviz
4  *
5  * Created: Fri Mar 27 12:07:00 2015
6  * Copyright 2011-2015 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_NAVGRAPH_GENERATOR_VISUALIZATION_THREAD_H_
23 #define _PLUGINS_NAVGRAPH_GENERATOR_VISUALIZATION_THREAD_H_
24 
25 #include "navgraph_generator_thread.h"
26 
27 #include <aspect/configurable.h>
28 #include <aspect/logging.h>
29 #include <core/threading/mutex.h>
30 #include <core/threading/thread.h>
31 #include <plugins/ros/aspect/ros.h>
32 #include <ros/publisher.h>
33 #include <visualization_msgs/MarkerArray.h>
34 
37  public fawkes::LoggingAspect,
38  public fawkes::ROSAspect
39 {
40 public:
42 
43  virtual void init();
44  virtual void loop();
45  virtual void finalize();
46 
47  void publish(const NavGraphGeneratorThread::ObstacleMap &obstacles,
48  const NavGraphGeneratorThread::ObstacleMap &map_obstacles,
49  const NavGraphGeneratorThread::PoiMap & pois);
50 
51 private:
52  std::string cfg_global_frame_;
53 
54  size_t last_id_num_;
55  ros::Publisher vispub_;
56 
57  NavGraphGeneratorThread::ObstacleMap obstacles_;
58  NavGraphGeneratorThread::ObstacleMap map_obstacles_;
59  NavGraphGeneratorThread::PoiMap pois_;
60 };
61 
62 #endif
NavGraphGeneratorVisualizationThread::finalize
virtual void finalize()
Finalize the thread.
Definition: visualization_thread.cpp:53
NavGraphGeneratorVisualizationThread::NavGraphGeneratorVisualizationThread
NavGraphGeneratorVisualizationThread()
Constructor.
Definition: visualization_thread.cpp:34
NavGraphGeneratorVisualizationThread::loop
virtual void loop()
Code to execute in the thread.
Definition: visualization_thread.cpp:72
NavGraphGeneratorVisualizationThread
Definition: visualization_thread.h:34
fawkes::LoggingAspect
Definition: logging.h:36
NavGraphGeneratorVisualizationThread::publish
void publish(const NavGraphGeneratorThread::ObstacleMap &obstacles, const NavGraphGeneratorThread::ObstacleMap &map_obstacles, const NavGraphGeneratorThread::PoiMap &pois)
Trigger publishing of visualization.
Definition: visualization_thread.cpp:177
fawkes::ROSAspect
Definition: ros.h:37
NavGraphGeneratorVisualizationThread::init
virtual void init()
Initialize the thread.
Definition: visualization_thread.cpp:41
fawkes::Thread
Definition: thread.h:44
fawkes::ConfigurableAspect
Definition: configurable.h:36