Class AbstractVisualizer

• Defined in File abstract_visualizer.hpp

Class Documentation

class bitbots_splines::AbstractVisualizer

Protected Functions

inline visualization_msgs::msg::Marker getMarker(const tf2::Vector3 &position, const std::string &frame, rclcpp::Node::SharedPtr node)

Utility function to create a visualization marker for a position with default properties.

Parameters

• position – The position of the marker

• frame – The frame in which the position is given

Returns

The visualization marker

inline visualization_msgs::msg::MarkerArray getPath(bitbots_splines::PoseSpline &spline, const std::string &frame, const double smoothness, rclcpp::Node::SharedPtr node)

Utility function to create a visualization marker for a trajectory with default properties.

Parameters

• spline – A PoseSpline containing the splines to be displayed

• frame – The frame in which the splines are given

• smoothness – The smoothness of the splines

Returns

The visualization markers

Protected Attributes

int id = 0