rviz_panel.cpp
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2 
3 
4 RvizPanel::RvizPanel(std::string name, tf2::Transform tf, tf2::Vector3 size)
5 : Panel(name, tf, size)
6 {
7  marker_.header.frame_id = "map";
8  marker_.header.stamp = ros::Time();
9  marker_.ns = name_;
10  marker_.id = 1;
11  marker_.type = visualization_msgs::Marker::CUBE;
12  marker_.action = visualization_msgs::Marker::ADD;
13  marker_.pose.position.x = 0;
14  marker_.pose.position.y = 0;
15  marker_.pose.position.z = 0;
16  marker_.pose.orientation.x = 0;
17  marker_.pose.orientation.y = 0;
18  marker_.pose.orientation.z = 0;
19  marker_.pose.orientation.w = 1;
20  marker_.scale.x = size_.getX();
21  marker_.scale.y = size_.getY();
22  marker_.scale.z = size_.getZ();
23  marker_.color.r = 1.0;
24  marker_.color.g = 1.0;
25  marker_.color.b = 1.0;
26  marker_.color.a = 0.0;
27 };
28 
29 void RvizPanel::update(tf2::Transform& tf){
30  Panel::update(tf);
31 
32  marker_.header.frame_id = "map";
33  marker_.header.stamp = ros::Time();
34  marker_.ns = name_;
35  marker_.id = 1;
36  marker_.type = visualization_msgs::Marker::CUBE;
37  marker_.action = visualization_msgs::Marker::MODIFY;
38  marker_.pose.position.x = world_tf_.getOrigin().getX();
39  marker_.pose.position.y = world_tf_.getOrigin().getY();
40  marker_.pose.position.z = world_tf_.getOrigin().getZ() - size_.getZ()/2;
41  marker_.pose.orientation.x = world_tf_.getRotation().getX();
42  marker_.pose.orientation.y = world_tf_.getRotation().getY();
43  marker_.pose.orientation.z = world_tf_.getRotation().getZ();
44  marker_.pose.orientation.w = world_tf_.getRotation().getW();
45  marker_.scale.x = size_.getX();
46  marker_.scale.y = size_.getY();
47  marker_.scale.z = size_.getZ();
48  marker_.color.r = 1.0;
49  marker_.color.g = 1.0;
50  marker_.color.b = 1.0;
51  // marker_.color.a = 1.0;
52 }
AbstractRobotElement::name_
std::string name_
Definition: abstract_robot_element.h:9
RvizPanel::marker_
visualization_msgs::Marker marker_
Definition: rviz_panel.h:12
Panel::update
void update(tf2::Transform &tf) override
Definition: panel.h:14
RvizPanel::RvizPanel
RvizPanel(std::string name, tf2::Transform tf, tf2::Vector3 size)
Definition: rviz_panel.cpp:4
RvizPanel::update
void update(tf2::Transform &tf) override
Definition: rviz_panel.cpp:29
AbstractRobotElement::world_tf_
tf2::Transform world_tf_
Definition: abstract_robot_element.h:11
Panel
Definition: panel.h:7
rviz_panel.h
AbstractRobotElement::size_
tf2::Vector3 size_
Definition: abstract_robot_element.h:12


multi_cell_builder
Author(s): Matteo Anedda
autogenerated on Sun Apr 9 2023 23:59:51