FrameMarker.hpp

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#ifndef AIKIDO_RVIZ_FRAMEMARKER_HPP_
#define AIKIDO_RVIZ_FRAMEMARKER_HPP_
 
#include <memory>
 
#include <interactive_markers/interactive_marker_server.h>
#include <visualization_msgs/InteractiveMarker.h>
 
#include "aikido/common/pointers.hpp"
 
namespace dart {
namespace dynamics {
 
class Frame;
 
} // namespace dynamics
} // namespace dart
 
namespace aikido {
namespace rviz {
 
AIKIDO_DECLARE_POINTERS(FrameMarker)
 
class FrameMarker
{
public:
  FrameMarker(
      interactive_markers::InteractiveMarkerServer* markerServer,
      std::shared_ptr<const dart::dynamics::Frame> frame,
      const std::string& frameId,
      double length = 0.25,
      double thickness = 0.02,
      double alpha = 1.0);
  ~FrameMarker();
 
  void update();
 
private:
  interactive_markers::InteractiveMarkerServer* mMarkerServer;
  visualization_msgs::InteractiveMarker mInteractiveMarker;
 
  std::shared_ptr<const dart::dynamics::Frame> mFrame;
  std::string mFrameId;
};
 
} // namespace rviz
} // namespace aikido
 
#endif // ifndef AIKIDO_RVIZ_FRAMEMARKER_HPP_