contact_results_marker.h

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#ifndef TESSERACT_VISUALIZATION_MARKERS_CONTACT_RESULTS_MARKER_H
#define TESSERACT_VISUALIZATION_MARKERS_CONTACT_RESULTS_MARKER_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <vector>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_visualization/markers/marker.h>
#include <tesseract_collision/core/types.h>
 
namespace tesseract_visualization
{
class ContactResultsMarker : public Marker
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  ContactResultsMarker() = default;
  ContactResultsMarker(std::vector<std::string> link_names,
                       tesseract_collision::ContactResultVector dist_results,
                       tesseract_collision::CollisionMarginData margin_data)
    : link_names(std::move(link_names)), dist_results(std::move(dist_results)), margin_data(std::move(margin_data))
  {
  }
 
  ContactResultsMarker(std::vector<std::string> link_names,
                       tesseract_collision::ContactResultVector dist_results,
                       std::function<double(const std::string&, const std::string&)> margin_fn)
    : link_names(std::move(link_names)), dist_results(std::move(dist_results)), margin_fn(std::move(margin_fn))
  {
  }
 
  int getType() const override { return static_cast<int>(MarkerType::CONTACT_RESULTS); }
 
  std::vector<std::string> link_names;
  tesseract_collision::ContactResultVector dist_results;
  tesseract_collision::CollisionMarginData margin_data;
  std::function<double(const std::string&, const std::string&)> margin_fn;
};
 
}  // namespace tesseract_visualization
 
#endif  // TESSERACT_VISUALIZATION_MARKERS_CONTACT_RESULTS_MARKER_H