Class WalkVisualizer

Defined in File walk_visualizer.hpp

Inheritance Relationships

Base Type

public bitbots_splines::AbstractVisualizer

Class Documentation

class bitbots_quintic_walk::WalkVisualizer : public bitbots_splines::AbstractVisualizer

Public Functions

explicit WalkVisualizer(rclcpp::Node::SharedPtr node, walking::Params::Node::Tf tf_config)

void publishArrowMarker(std::string name_space, std::string frame, geometry_msgs::msg::Pose pose, float r, float g, float b, float a)

void publishEngineDebug(WalkResponse response)

void publishIKDebug(WalkResponse response, moveit::core::RobotStatePtr current_state, bitbots_splines::JointGoals joint_goals)

void publishWalkMarkers(WalkResponse response)

void init(moveit::core::RobotModelPtr kinematic_model)

Private Members

rclcpp::Node::SharedPtr node_

walking::Params::Node::Tf tf_config_

int marker_id_ = 1

rclcpp::Publisher<bitbots_quintic_walk::msg::WalkDebug>::SharedPtr pub_debug_

rclcpp::Publisher<bitbots_quintic_walk::msg::WalkEngineDebug>::SharedPtr pub_engine_debug_

rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr pub_debug_marker_

moveit::core::RobotModelPtr kinematic_model_