field_rviz_decorator.cpp
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2 
3 void Field_rviz_decorator::update(tf2::Transform& tf) {
6 }
7 
8 void Field_rviz_decorator::input_filter(tf2::Transform& tf) {}
9 
11  Field* field = dynamic_cast<Field*> (next_);
12  tf2::Vector3 world_origin = field->world_tf().getOrigin();
13  tf2::Quaternion world_quat = field->world_tf().getRotation().normalized();
14 
15  visualization_msgs::Marker marker;
16  marker.header.frame_id = "map";
17  marker.header.stamp = ros::Time();
18  marker.ns = "fiels";
19  marker.id = *((int*)(&next_));
20  marker.type = visualization_msgs::Marker::CUBE;
21  marker.action = visualization_msgs::Marker::ADD;
22  marker.pose.position.x = world_origin.getX();
23  marker.pose.position.y = world_origin.getY();
24  marker.pose.position.z = 0;
25  marker.pose.orientation.x = world_quat.getX();
26  marker.pose.orientation.y = world_quat.getY();
27  marker.pose.orientation.z = world_quat.getZ();
28  marker.pose.orientation.w = world_quat.getW();
29  marker.scale.x = 0.4f;
30  marker.scale.y = 0.4f;
31  marker.scale.z = 0.01f;
32  marker.color.r = 0.7;
33  marker.color.g = 0.7;
34  marker.color.b = 0.7;
35  marker.color.a = 1.0; // Don't forget to set the alpha!
36 
37  markers_->markers.push_back(marker);
38 }
Field::world_tf
tf2::Transform & world_tf() override
Definition: robot_element/observers/field.h:17
Field_rviz_decorator::output_filter
void output_filter() override
Definition: field_rviz_decorator.cpp:10
Field_rviz_decorator::markers_
visualization_msgs::MarkerArray * markers_
Definition: field_rviz_decorator.h:11
Abstract_robot_element_decorator::update
void update(tf2::Transform &tf) override
Definition: impl/abstract_robot_element_decorator.h:17
Abstract_robot_element_decorator::next_
Abstract_robot_element * next_
Definition: impl/abstract_robot_element_decorator.h:9
field_rviz_decorator.h
Field
Definition: impl/field.h:7
Abstract_robot_element_decorator::input_filter
virtual void input_filter()=0
Field_rviz_decorator::update
void update(tf2::Transform &tf) override
Definition: field_rviz_decorator.cpp:3


multi_cell_builder
Author(s): MA
autogenerated on Thu Jan 12 2023 23:45:43