static_edges_visualization.h

#ifndef STATIC_EDGES_VISUALIZATION_H
#define STATIC_EDGES_VISUALIZATION_H
 
#include "prism.h"
#include <mrs_lib/safety_zone.h>
 
#include <visualization_msgs/msg/marker.hpp>
#include <visualization_msgs/msg/marker_array.hpp>
#include <geometry_msgs/msg/point.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <mrs_lib/publisher_handler.h>
#include <string>
#include <rclcpp/rclcpp.hpp>
#include <atomic>
 
namespace mrs_lib
{
class StaticEdgesVisualization final : public safety_zone::Subscriber {
 
public:
  // Represents the prism
  StaticEdgesVisualization(safety_zone::Prism prism, const std::string &uav_name, const std::string &frame_id, const rclcpp::Node::SharedPtr node,
                           const double &markers_update_rate);
 
  // Represents corresponding obstacle in the safety_zone.
  StaticEdgesVisualization(safety_zone::SafetyZone *safety_zone, const int &obstacle_id, const std::string &uav_name, const std::string &frame_id,
                           const rclcpp::Node::SharedPtr node, const double &markers_update_rate);
 
  // Represents border of the safety_zone.
  StaticEdgesVisualization(safety_zone::SafetyZone *safety_zone, const std::string &uav_name, const std::string &frame_id, const rclcpp::Node::SharedPtr node,
                           const double &markers_update_rate);
 
  ~StaticEdgesVisualization();
 
  void update() override;
  void cleanup() override;
 
private:
  void init();
  void sendMarker();
 
  // It is required for generating static marker names,
  // because their id's must be unique on topic
  const int id_;
  static std::atomic<int> id_generator_;
 
  safety_zone::Prism prism_;
  std::string uav_name_;
  std::string frame_id_;
  rclcpp::Node::SharedPtr node_;
 
  // Static markers
  mrs_lib::PublisherHandler<visualization_msgs::msg::MarkerArray> publisher_;
  mrs_lib::PublisherHandler<visualization_msgs::msg::MarkerArray> coordinate_publisher_;
  rclcpp::TimerBase::SharedPtr timer_;
  static visualization_msgs::msg::MarkerArray last_markers_;
  visualization_msgs::msg::MarkerArray last_coordinates_;
 
}; // class StaticEdgesVisualization
} // namespace mrs_lib
 
 
#endif