marker_tools.h

#pragma once
 
#include <rviz_marker_tools/marker_creation.h>
#include <visualization_msgs/Marker.h>
#include <moveit/macros/class_forward.h>
#include <functional>
 
namespace planning_scene {
MOVEIT_CLASS_FORWARD(PlanningScene);
}
namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotState);
MOVEIT_CLASS_FORWARD(LinkModel);
}  // namespace core
}  // namespace moveit
 
namespace moveit {
namespace task_constructor {
 
using MarkerCallback = std::function<void(visualization_msgs::Marker&, const std::string&)>;
 
void generateMarkersForObjects(const planning_scene::PlanningSceneConstPtr& scene, const MarkerCallback& callback,
                               const std::vector<std::string>& object_names = {});
 
void generateCollisionMarkers(const moveit::core::RobotState& robot_state, const MarkerCallback& callback,
                              const std::vector<std::string>& link_names = {});
void generateCollisionMarkers(const moveit::core::RobotState& robot_state, const MarkerCallback& callback,
                              const std::vector<const moveit::core::LinkModel*>& link_models);
 
void generateVisualMarkers(const moveit::core::RobotState& robot_state, const MarkerCallback& callback,
                           const std::vector<std::string>& link_names = {});
void generateVisualMarkers(const moveit::core::RobotState& robot_state, const MarkerCallback& callback,
                           const std::vector<const moveit::core::LinkModel*>& link_models);
 
void generateMarkersForScene(const planning_scene::PlanningSceneConstPtr& scene, const MarkerCallback& callback);
}  // namespace task_constructor
}  // namespace moveit