Classes
struct	HasPosition
	A helper struct to check if a type T has a member named 'position'. More...

struct	HasPosition< T, std::enable_if_t< std::is_arithmetic_v< decltype(std::declval< T >().position.x)> &&std::is_arithmetic_v< decltype(std::declval< T >().position.y)> > >
	A specialization of the has_position struct for types T that do have a valid 'position' member. More...

Functions
std::vector< common_lib::structures::PathPoint >	path_point_array_from_ci_vector (const custom_interfaces::msg::PathPointArray &path_point_array)
	Convert from custom interfaces PathPointArray to vector of common_lib PathPoints.

custom_interfaces::msg::ConeArray	custom_interfaces_array_from_vector (const std::vector< common_lib::structures::Cone > &input_cones)

custom_interfaces::msg::PathPointArray	custom_interfaces_array_from_vector (const std::vector< common_lib::structures::PathPoint > &input_path, bool is_map_closed)

std::vector< common_lib::structures::Cone >	cone_vector_from_custom_interfaces (const custom_interfaces::msg::ConeArray &msg)

const std::map< std::string, std::array< float, 4 >, std::less<> > &	marker_color_map ()

const std::map< std::string, int, std::less<> > &	marker_shape_map ()

template<typename T >
visualization_msgs::msg::MarkerArray	marker_array_from_structure_array (const std::vector< T > &structure_array, const std::string &name_space, const std::string &frame_id, const std::string &color="red", const std::string &shape="cylinder", float scale=0.5, int action=visualization_msgs::msg::Marker::MODIFY)
	Converts a vector of cones to a marker array.

template<typename T >
visualization_msgs::msg::Marker	line_marker_from_structure_array (const std::vector< T > &structure_array, const std::string &name_space, const std::string &frame_id, const int id, const std::string &color="red", const std::string &shape="line", float scale=0.1f, int action=visualization_msgs::msg::Marker::MODIFY)
	Converts a vector of cones to a marker array.

visualization_msgs::msg::Marker	marker_from_position (const common_lib::structures::Position &position, const std::string &name_space, const int id, const std::string &color="red", float scale=0.5, const std::string &frame_id="map", const std::string &shape="sphere", int action=visualization_msgs::msg::Marker::ADD)
	Converts a position to a marker.

visualization_msgs::msg::Marker	lines_marker_from_triangulations (const std::vector< std::pair< Point, Point > > &triangulations, const std::string &name_space, const std::string &frame_id, int id, const std::string &color, float scale, int action)
	Converts a vector of triangulation edges to a marker.

visualization_msgs::msg::MarkerArray	velocity_hover_markers (const std::vector< common_lib::structures::PathPoint > &path_array, const std::string &name_space, const std::string &frame_id, float scale=0.2f, int every_nth=1)
	Creates sphere markers at each path point with velocity in the marker namespace When you hover over these in Foxglove's 3D panel, it shows the velocity in the tooltip.

Function Documentation

◆ cone_vector_from_custom_interfaces()

std::vector< common_lib::structures::Cone > common_lib::communication::cone_vector_from_custom_interfaces ( const custom_interfaces::msg::ConeArray & msg )

Definition at line 44 of file interfaces.cpp.

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◆ custom_interfaces_array_from_vector() [1/2]

custom_interfaces::msg::ConeArray common_lib::communication::custom_interfaces_array_from_vector ( const std::vector< common_lib::structures::Cone > & input_cones )

Definition at line 18 of file interfaces.cpp.

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◆ custom_interfaces_array_from_vector() [2/2]

custom_interfaces::msg::PathPointArray common_lib::communication::custom_interfaces_array_from_vector	(	const std::vector< common_lib::structures::PathPoint > &	input_path,
		bool	is_map_closed
	)

Definition at line 29 of file interfaces.cpp.

◆ line_marker_from_structure_array()

template<typename T >

visualization_msgs::msg::Marker common_lib::communication::line_marker_from_structure_array	(	const std::vector< T > &	structure_array,
		const std::string &	name_space,
		const std::string &	frame_id,
		const int	id,
		const std::string &	color = `"red"`,
		const std::string &	shape = `"line"`,
		float	scale = `0.1f`,
		int	action = `visualization_msgs::msg::Marker::MODIFY`
	)

Converts a vector of cones to a marker array.

Parameters

cone_array	vector of cones
color	color of the marker (blue, yellow, orange, red, green)
shape	shape of the marker (cylinder, cube, sphere)
frame_id	frame id of the marker, for transforms
name_space	namespace of the marker, used in conjunction with ID to identify marker
scale	scale of the marker, default is 0.5
action	action of the marker, default is ADD/MODIFY

Returns: visualization_msgs::msg::MarkerArray

Definition at line 158 of file marker.hpp.

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◆ lines_marker_from_triangulations()

visualization_msgs::msg::Marker common_lib::communication::lines_marker_from_triangulations	(	const std::vector< std::pair< Point, Point > > &	triangulations,
		const std::string &	name_space,
		const std::string &	frame_id,
		int	id,
		const std::string &	color,
		float	scale,
		int	action
	)

Converts a vector of triangulation edges to a marker.

Parameters

triangulations	Vector of edges, where each edge is a pair of Points
name_space	Namespace of the marker, used in conjunction with ID to identify the marker
frame_id	Frame id of the marker
id	Id of the marker
color	Color of the marker
scale	Thickness of the lines
action	action of the marker

Returns: visualization_msgs::msg::Marker

Definition at line 41 of file marker.cpp.

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◆ marker_array_from_structure_array()

template<typename T >

visualization_msgs::msg::MarkerArray common_lib::communication::marker_array_from_structure_array	(	const std::vector< T > &	structure_array,
		const std::string &	name_space,
		const std::string &	frame_id,
		const std::string &	color = `"red"`,
		const std::string &	shape = `"cylinder"`,
		float	scale = `0.5`,
		int	action = `visualization_msgs::msg::Marker::MODIFY`
	)

Converts a vector of cones to a marker array.

Parameters

cone_array	vector of cones
color	color of the marker (blue, yellow, orange, red, green)
shape	shape of the marker (cylinder, cube, sphere)
frame_id	frame id of the marker, for transforms
name_space	namespace of the marker, used in conjunction with ID to identify marker
scale	scale of the marker, default is 0.5
action	action of the marker, default is ADD/MODIFY

Returns: visualization_msgs::msg::MarkerArray

Definition at line 79 of file marker.hpp.

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◆ marker_color_map()

const std::map< std::string, std::array< float, 4 >, std::less<> > & common_lib::communication::marker_color_map ( )

inline

Definition at line 21 of file marker.hpp.

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◆ marker_from_position()

visualization_msgs::msg::Marker common_lib::communication::marker_from_position	(	const common_lib::structures::Position &	position,
		const std::string &	name_space,
		const int	id,
		const std::string &	color = `"red"`,
		float	scale = `0.5`,
		const std::string &	frame_id = `"map"`,
		const std::string &	shape = `"sphere"`,
		int	action = `visualization_msgs::msg::Marker::ADD`
	)

Converts a position to a marker.

Parameters

position	position to convert
name_space	namespace of the marker, used in conjunction with ID to identify marker
id	id of the marker
color	color of the marker (blue, yellow, orange, red, green)
scale	scale of the marker, default is 0.5
frame_id	frame id of the marker, for transforms
shape	shape of the marker (cylinder, cube, sphere)
action	action of the marker, default is ADD/MODIFY

Returns: visualization_msgs::msg::Marker

Definition at line 5 of file marker.cpp.

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◆ marker_shape_map()

const std::map< std::string, int, std::less<> > & common_lib::communication::marker_shape_map ( )

inline

Definition at line 31 of file marker.hpp.

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◆ path_point_array_from_ci_vector()

std::vector< common_lib::structures::PathPoint > common_lib::communication::path_point_array_from_ci_vector ( const custom_interfaces::msg::PathPointArray & path_point_array )

Convert from custom interfaces PathPointArray to vector of common_lib PathPoints.

Parameters

path_point_array

Returns: std::vector<common_lib::structures::PathPoint>

Definition at line 5 of file interfaces.cpp.

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◆ velocity_hover_markers()

visualization_msgs::msg::MarkerArray common_lib::communication::velocity_hover_markers	(	const std::vector< common_lib::structures::PathPoint > &	path_array,
		const std::string &	name_space,
		const std::string &	frame_id,
		float	scale = `0.2f`,
		int	every_nth = `1`
	)

Creates sphere markers at each path point with velocity in the marker namespace When you hover over these in Foxglove's 3D panel, it shows the velocity in the tooltip.

Parameters

path_array	vector of PathPoints
name_space	base namespace of the markers
frame_id	frame id
scale	size of the spheres
every_nth	show sphere every nth point

Returns: visualization_msgs::msg::MarkerArray

Definition at line 79 of file marker.cpp.

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Classes

Functions

Function Documentation

◆ cone_vector_from_custom_interfaces()

◆ custom_interfaces_array_from_vector() [1/2]

◆ custom_interfaces_array_from_vector() [2/2]

◆ line_marker_from_structure_array()

◆ lines_marker_from_triangulations()

◆ marker_array_from_structure_array()

◆ marker_color_map()

◆ marker_from_position()

◆ marker_shape_map()

◆ path_point_array_from_ci_vector()

◆ velocity_hover_markers()