flatland_server::DebugVisualization Class Reference

Collaboration diagram for flatland_server::DebugVisualization:

Public Member Functions
void	Publish ()
	Publish all marker array topics_ that need publishing.
void	Visualize (std::string name, b2Body *body, float r, float g, float b, float a)
	Visualize body. More...
void	Visualize (std::string name, b2Joint *joint, float r, float g, float b, float a)
	Visualize body. More...
void	VisualizeLayer (std::string name, Body *body)
	Visualize a layer in 2.5d. More...
void	Reset (std::string name)
	Remove all elements in a visualization topic. More...
void	BodyToMarkers (visualization_msgs::MarkerArray &markers, b2Body *body, float r, float g, float b, float a)
	Append body as a marker on the marker array. More...
void	JointToMarkers (visualization_msgs::MarkerArray &markers, b2Joint *joint, float r, float g, float b, float a)
	Append a joint as a marker on the marker array. More...
void	AddTopicIfNotExist (const std::string &name)
	Ensure that a topic name is being broadcasted. More...
void	PublishTopicList ()
	Publish topics list.

Static Public Member Functions
static DebugVisualization &	Get ()
	Return the singleton object.

Public Attributes
std::map< std::string, DebugTopic >	topics_
ros::NodeHandle	node_
ros::Publisher	topic_list_publisher_

Member Function Documentation

void flatland_server::DebugVisualization::AddTopicIfNotExist

(

const std::string &

name

)

Ensure that a topic name is being broadcasted.

Parameters

[in]

name

Name of the topic

void flatland_server::DebugVisualization::BodyToMarkers	(	visualization_msgs::MarkerArray &	markers,
		b2Body *	body,
		float	r,
		float	g,
		float	b,
		float	a
	)

Append body as a marker on the marker array.

Parameters

[in]	markers	The output marker array
[in]	body	The input body pointer
[in]	r	red color 0.0->1.0
[in]	g	green color 0.0->1.0
[in]	b	blue color 0.0->1.0
[in]	a	alpha color 0.0->1.0

void flatland_server::DebugVisualization::JointToMarkers	(	visualization_msgs::MarkerArray &	markers,
		b2Joint *	joint,
		float	r,
		float	g,
		float	b,
		float	a
	)

Append a joint as a marker on the marker array.

Parameters

[in]	markers	The output marker array
[in]	joint	The input joint pointer
[in]	r	red color 0.0->1.0
[in]	g	green color 0.0->1.0
[in]	b	blue color 0.0->1.0
[in]	a	alpha color 0.0->1.0

void flatland_server::DebugVisualization::Reset

(

std::string

name

)

Remove all elements in a visualization topic.

Parameters

name

void flatland_server::DebugVisualization::Visualize	(	std::string	name,
		b2Body *	body,
		float	r,
		float	g,
		float	b,
		float	a
	)

Visualize body.

Parameters

[in]	name	The name of the topic
[in]	body	The body to output
[in]	r	red color 0.0->1.0
[in]	g	green color 0.0->1.0
[in]	b	blue color 0.0->1.0
[in]	a	alpha color 0.0->1.0

void flatland_server::DebugVisualization::Visualize	(	std::string	name,
		b2Joint *	joint,
		float	r,
		float	g,
		float	b,
		float	a
	)

Visualize body.

Parameters

[in]	name	The name of the topic
[in]	joint	The join to output
[in]	r	red color 0.0->1.0
[in]	g	green color 0.0->1.0
[in]	b	blue color 0.0->1.0
[in]	a	alpha color 0.0->1.0

void flatland_server::DebugVisualization::VisualizeLayer	(	std::string	name,
		Body *	body
	)

Visualize a layer in 2.5d.

Parameters

[in]	name	The name of the topic
[in]	joint	The join to output
[in]	r	red color 0.0->1.0
[in]	g	green color 0.0->1.0
[in]	b	blue color 0.0->1.0
[in]	a	alpha color 0.0->1.0

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The documentation for this class was generated from the following files:

• flatland_server/include/flatland_server/debug_visualization.h
• flatland_server/src/debug_visualization.cpp