Class Visualizer

Defined in File visualizer.hpp

Inheritance Relationships

Base Type

private bitbots_splines::AbstractVisualizer

Class Documentation

class bitbots_dynup::Visualizer : private bitbots_splines::AbstractVisualizer

Public Functions

Visualizer(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Visualizer params, const std::string &base_topic)

void setParams(bitbots_dynup::Params::Visualizer params)

void displaySplines(bitbots_splines::PoseSpline splines, const std::string &frame)

void publishIKOffsets(const moveit::core::RobotModelPtr &model, const DynupResponse &response, const bitbots_splines::JointGoals &ik_joint_goals)

Private Members

rclcpp::Node::SharedPtr node_

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

rclcpp::Publisher<bitbots_dynup::msg::DynupIkOffset>::SharedPtr ik_debug_publisher_

std::string base_topic_

const std::string marker_ns_ = "bitbots_dynup"

bitbots_dynup::Params::Visualizer params_