toolpath_marker.h

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#ifndef TESSERACT_VISUALIZATION_MARKERS_TOOLPATH_MARKER_H
#define TESSERACT_VISUALIZATION_MARKERS_TOOLPATH_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_common/types.h>
 
namespace tesseract_visualization
{
class ToolpathMarker : public Marker
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  ToolpathMarker() = default;
  ToolpathMarker(tesseract_common::Toolpath toolpath) : toolpath(std::move(toolpath)) {}
 
  int getType() const override { return static_cast<int>(MarkerType::TOOLPATH); }
 
  bool show_path{ true };
  bool show_axis{ true };
  tesseract_common::Toolpath toolpath;
  Eigen::Vector3d scale{ Eigen::Vector3d::Constant(0.03) };
};
 
}  // namespace tesseract_visualization
#endif  // TESSERACT_VISUALIZATION_MARKERS_TOOLPATH_MARKER_H