Class Visualizer

Defined in File visualizer.hpp

Inheritance Relationships

Base Type

private bitbots_splines::AbstractVisualizer

Class Documentation

class bitbots_dynamic_kick::Visualizer : private bitbots_splines::AbstractVisualizer

Public Functions

explicit Visualizer(const std::string &base_topic, rclcpp::Node::SharedPtr node)

void setParams(VisualizationParams params)

void displayReceivedGoal(const bitbots_msgs::action::Kick::Goal &goal)

void displayFlyingSplines(bitbots_splines::PoseSpline splines, const std::string &support_foot_frame)

void displayTrunkSplines(bitbots_splines::PoseSpline splines, const std::string &support_foot_frame)

void displayWindupPoint(const Eigen::Vector3d &kick_windup_point, const std::string &support_foot_frame)

void publishGoals(const KickPositions &positions, const KickPositions &stabilized_positions, const moveit::core::RobotStatePtr &robot_state, KickPhase engine_phase)

Private Members

rclcpp::Node::SharedPtr node_

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

rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr foot_spline_publisher_

rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr trunk_spline_publisher_

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

rclcpp::Publisher<bitbots_dynamic_kick::msg::KickDebug>::SharedPtr debug_publisher_

std::string base_topic_

const std::string marker_ns_ = "bitbots_dynamic_kick"

VisualizationParams params_