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/blocked_timing.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 <core/utils/lockptr.h>
32#include <navgraph/navgraph.h>
33#include <navgraph/navgraph_path.h>
34#include <plugins/ros/aspect/ros.h>
35#include <ros/publisher.h>
36#include <visualization_msgs/MarkerArray.h>
37
42 public fawkes::ROSAspect,
44{
45public:
47
48 virtual void init();
49 virtual void loop();
50 virtual void finalize();
51
54
56 void set_current_edge(const std::string &from, const std::string &to);
57 void reset_plan();
58
59 virtual void graph_changed() noexcept;
60
61private:
62 void publish();
63 void regenerate();
64 void add_circle_markers(visualization_msgs::MarkerArray &m,
65 size_t & id_num,
66 float center_x,
67 float center_y,
68 float radius,
69 unsigned int arc_length,
70 float r,
71 float g,
72 float b,
73 float alpha,
74 float line_width = 0.03);
75 float edge_cost_factor(std::list<std::tuple<std::string, std::string, std::string, float>> &costs,
76 const std::string & from,
77 const std::string & to,
78 std::string &constraint_name);
79
80private:
81 size_t last_id_num_;
82 size_t constraints_last_id_num_;
83 ros::Publisher vispub_;
84
85 float cfg_cost_scale_max_;
86
88 std::string plan_to_;
89 std::string plan_from_;
90
93
94 std::string cfg_global_frame_;
95
96 visualization_msgs::MarkerArray markers_;
97};
98
99#endif
Send Marker messages to rviz to show navgraph info.
void set_constraint_repo(fawkes::LockPtr< fawkes::NavGraphConstraintRepo > &crepo)
Set the constraint repo.
virtual void loop()
Code to execute in the thread.
virtual void graph_changed() noexcept
Function called if the graph has been changed.
virtual void finalize()
Finalize the thread.
void set_current_edge(const std::string &from, const std::string &to)
Set the currently executed edge of the plan.
void set_graph(fawkes::LockPtr< fawkes::NavGraph > &graph)
Set the graph.
virtual void init()
Initialize the thread.
void set_traversal(fawkes::NavGraphPath::Traversal &traversal)
Set current path.
void reset_plan()
Reset the current plan.
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Sub-class representing a navgraph path traversal.
Definition: navgraph_path.h:40
Topological graph change listener.
Definition: navgraph.h:179
Thread aspect to get access to a ROS node handle.
Definition: ros.h:39
Thread class encapsulation of pthreads.
Definition: thread.h:46