wak_vis.h

// Walk and kick: Visualisation
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>
 
 // Ensure header is only included once
#ifndef WAK_VIS_H
#define WAK_VIS_H

// Includes
#include <walk_and_kick/wak_config.h>
#include <walk_and_kick/wak_utils.h>
#include <vis_utils/marker_manager.h>

// Walk and kick namespace
namespace walk_and_kick
{
    class WAKMarkerMan : public vis_utils::MarkerManager
    {
    public:
        // Constants
        static const int NumCirclePoints = 51;

        // Constructor
        explicit WAKMarkerMan(WAKConfig& config);

        // Config parameters
        WAKConfig& config;

        // Field dimensions
        const FieldDimensions field;

        // Reference frames
        const std::string egoTrunk;
        const std::string egoFloor;
        const std::string alloFrame;

        // Function intercepts
        void clear(ros::Time stamp);
        void publish();

        // Helper functions
        void updateMarkerXY(vis_utils::GenMarker& marker, bool show, float x = 0.0f, float y = 0.0f, float a = 1.0f);

        // Publish a foreign marker array
        void publishMarkerArray(const visualization_msgs::MarkerArray& markers) { m_pub_markers.publish(markers); }

        // Markers
        vis_utils::SphereMarker BallTarget;
        vis_utils::SphereMarker Ball;
        vis_utils::TextMarker BallTargetType;
        vis_utils::BoxMarker BallTargetWidthBox;
        vis_utils::GenMarker BallToTargetLine;
        vis_utils::GenMarker BallToTargetWedge;
        vis_utils::GenMarker WalkingTarget;
        vis_utils::GenMarker WalkingTargetTol;
        vis_utils::CylinderMarker ObstacleA;
        vis_utils::CylinderMarker ObstacleB;
        vis_utils::ArrowMarker TargetPoseArrow;
        vis_utils::TextMarker ModeStateText;
        vis_utils::TextMarker GameStateText;
        vis_utils::TextMarker BehStateText;
        vis_utils::TextMarker SubStateText;
        vis_utils::BoxMarker GoalSign;
        vis_utils::ArrowMarker GcvXY;
        vis_utils::ArrowMarker GcvZ;
        vis_utils::ArrowMarker CompassHeading;
        vis_utils::TextMarker CompassHeadingText;
        vis_utils::BoxMarker SuggestedFoot;
        vis_utils::GenMarker ReqBallOffset;
        vis_utils::GenMarker GBBPath;
        vis_utils::GenMarker GBBPsiDes;
        vis_utils::GenMarker GBBBallView;
        vis_utils::GenMarker GBBFarCircle;
        vis_utils::GenMarker GBBNearCircle;
        vis_utils::GenMarker GBBHaloCircle;
        vis_utils::GenMarker GBBBehindBall;
        vis_utils::GenMarker GBBBetaAngle;
        vis_utils::GenMarker GBBRobotHalo;
        vis_utils::GenMarker DBBallRegion;
        vis_utils::GenMarker KBBallRegionL;
        vis_utils::GenMarker KBBallRegionR;
        vis_utils::ArrowMarker KBKickVector;

    private:
        // Hidden variables
        bool m_hiddenGBB;
    };

    class WAKBagMarkerMan : public vis_utils::MarkerManager
    {
    public:
        // Constructor
        explicit WAKBagMarkerMan(WAKConfig& config);

        // Config parameters
        WAKConfig& config;

        // Reference frames
        const std::string egoTrunk;
        const std::string egoFloor;

        // Update functions
        void updateVis();
        void updateMarkers();

        // Markers
        vis_utils::SphereMarker RobotTrunk;
        vis_utils::BoxMarker RobotLeftFoot;
        vis_utils::BoxMarker RobotRightFoot;
        vis_utils::CylinderMarker RobotLeftToe;
        vis_utils::CylinderMarker RobotRightToe;
    };
}

#endif
// EOF