debug_visualization.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name  debug_visualization.h
 * @brief Transform box2d types into published visualization messages
 * @author Joseph Duchesne
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Avidbots Corp.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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#ifndef FLATLAND_SERVER_DEBUG_VISUALIZATION_H
#define FLATLAND_SERVER_DEBUG_VISUALIZATION_H

#include <Box2D/Box2D.h>
#include <flatland_msgs/DebugTopicList.h>
#include <ros/ros.h>
#include <visualization_msgs/MarkerArray.h>
#include <map>
#include <string>
#include <vector>

#include "flatland_server/body.h"

namespace flatland_server {
struct DebugTopic {
  ros::Publisher publisher;
  bool needs_publishing;
  visualization_msgs::MarkerArray markers;
};

class DebugVisualization {
 private:
  DebugVisualization();

 public:
  std::map<std::string, DebugTopic> topics_;
  ros::NodeHandle node_;
  ros::Publisher topic_list_publisher_;

  static DebugVisualization& Get();

  void Publish();

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

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

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

  void Reset(std::string name);

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

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

  void AddTopicIfNotExist(const std::string& name);

  void PublishTopicList();
};
};      // namespace flatland_server
#endif  // FLATLAND_SERVER_DEBUG_VISUALIZATION_H