global_planner/visualization.h

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/*******************************
 *                             *
 *  Author: Rein Appeldoorn    *
 *  Date:   2013-03-06         *
 *                             *
 *******************************/
 
#ifndef cb_global_planner_VISUALIZATION_H_
#define cb_global_planner_VISUALIZATION_H_
 
#include <geometry_msgs/PoseStamped.h>
 
#include <ros/publisher.h>
 
#include <tf2/utils.h>
 
#include <string>
#include <vector>
 
namespace cb_global_planner
{
 
class Visualization
{
 
public:
    Visualization();
 
    void publishGlobalPlanMarker(const std::vector<geometry_msgs::PoseStamped>& plan, const std::string& frame = "map");
 
    void publishGlobalPlanMarkerArray(const std::vector<geometry_msgs::PoseStamped>& plan, const std::string& frame = "map");
 
    void publishGoalPositionsMarker(const std::vector<tf2::Vector3>& positions, const std::string& frame = "map");
 
private:
    ros::Publisher global_plan_marker_array_pub_, global_plan_marker_pub_, goal_positions_marker_pub_;
 
};
 
}
#endif