visualization.h

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#ifndef TESSERACT_VISUALIZATION_VISUALIZATION_H
#define TESSERACT_VISUALIZATION_VISUALIZATION_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <any>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/joint_state.h>
#include <tesseract_collision/core/types.h>
#include <tesseract_scene_graph/graph.h>
#include <tesseract_environment/environment.h>
#include <tesseract_visualization/markers/marker.h>
 
// clang-format off
#define TESSERACT_ADD_VISUALIZATION_PLUGIN(DERIVED_CLASS, ALIAS)                                                       \
  TESSERACT_ADD_PLUGIN_SECTIONED(DERIVED_CLASS, ALIAS, Plotter)
// clang-format on
 
namespace tesseract_visualization
{
class Visualization
{
public:
  using Ptr = std::shared_ptr<Visualization>;
  using ConstPtr = std::shared_ptr<const Visualization>;
 
  Visualization() = default;
  virtual ~Visualization() = default;
  Visualization(const Visualization&) = default;
  Visualization& operator=(const Visualization&) = default;
  Visualization(Visualization&&) = default;
  Visualization& operator=(Visualization&&) = default;
 
  virtual bool isConnected() const = 0;
 
  virtual void waitForConnection(long seconds = 0) const = 0;
 
  virtual void plotEnvironment(const tesseract_environment::Environment& env, std::string ns = "") = 0;
 
  virtual void plotEnvironmentState(const tesseract_scene_graph::SceneState& state, std::string ns = "") = 0;
 
  virtual void plotTrajectory(const tesseract_common::JointTrajectory& traj,
                              const tesseract_scene_graph::StateSolver& state_solver,
                              std::string ns = "") = 0;
 
  virtual void plotMarker(const Marker& marker, std::string ns = "") = 0;
 
  virtual void plotMarkers(const std::vector<Marker::Ptr>& markers, std::string ns = "") = 0;
 
  virtual void clear(std::string ns = "") = 0;
 
  virtual void waitForInput(std::string message = "Hit enter key to continue!") = 0;
};
 
}  // namespace tesseract_visualization
 
#endif  // TESSERACT_VISUALIZATION_VISUALIZATION_H