marker.h

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/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef TESSERACT_VISUALIZATION_MARKERS_MARKER_H
#define TESSERACT_VISUALIZATION_MARKERS_MARKER_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <chrono>
#include <memory>
#include <Eigen/Geometry>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
namespace tesseract_visualization
{
enum class MarkerType : int
{
  NONE = 0,
 
  GEOMETRY = 1,
 
  AXIS = 2,
 
  ARROW = 3,
 
  LINE_STRIP = 4,
 
  LINE_LIST = 5,
 
  POINTS = 6,
 
  TEXT = 7,
 
  TRIANGLE_FAN = 8,
 
  TRIANGLE_LIST = 9,
 
  TRIANGLE_STRIP = 10,
 
  TOOLPATH = 11,
 
  CONTACT_RESULTS = 12,
 
  // User defined types must be larger than this
  USER_DEFINED = 1000
};
 
class Marker
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  using Ptr = std::shared_ptr<Marker>;
  using ConstPtr = std::shared_ptr<const Marker>;
 
  Marker() = default;
  virtual ~Marker() = default;
  Marker(const Marker&) = default;
  Marker& operator=(const Marker&) = default;
  Marker(Marker&&) = default;
  Marker& operator=(Marker&&) = default;
 
  virtual int getType() const = 0;
 
  virtual void setParentLink(std::string parent_link);
 
  virtual const std::string& getParentLink() const;
 
  virtual void setLifetime(const std::chrono::steady_clock::duration& lifetime);
 
  virtual std::chrono::steady_clock::duration getLifetime() const;
 
  virtual void setLayer(int layer);
 
  virtual int getLayer() const;
 
  virtual void setScale(const Eigen::Vector3d& scale);
 
  virtual const Eigen::Vector3d& getScale() const;
 
protected:
  std::chrono::steady_clock::duration lifetime_{ 0 };
 
  std::string parent_link_;
 
  int layer_{ 0 };
 
  Eigen::Vector3d scale_{ Eigen::Vector3d(1, 1, 1) };
};
 
}  // namespace tesseract_visualization
#endif  // TESSERACT_VISUALIZATION_MARKERS_MARKER_H