representation_rviz.h

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#ifndef _REPRESENTATION_RVIZ_H_
#define _REPRESENTATION_RVIZ_H_

#include <navigability_map/navigability_map.h>


class Markers
{
        public:         
                void update(visualization_msgs::Marker& marker)
                {
                        for(uint i=0;i<markers.size();++i)
                                if(markers[i].ns==marker.ns && markers[i].id==marker.id)//Marker found
                                {
                                        markers.erase(markers.begin()+i);
                                        break;
                                }
                                
                        markers.push_back(marker);
                }
                
                void decrement(void)
                {
                        for(uint i=0;i<markers.size();++i)
                        {
                                switch(markers[i].action)
                                {
                                        case visualization_msgs::Marker::ADD:
                                                markers[i].action = visualization_msgs::Marker::DELETE;
                                                break;
                                        case visualization_msgs::Marker::DELETE:
                                                markers[i].action = -1;
                                                break;
                                }
                        }
                }
                
                void clean(void)
                {
                        vector<visualization_msgs::Marker> new_markers;

                        for(uint i=0;i<markers.size();++i)
                                if(markers[i].action!=-1)
                                        new_markers.push_back(markers[i]);
                                
                        markers=new_markers;
                }

                vector<visualization_msgs::Marker> getOutgoingMarkers(void)
                {
                        vector<visualization_msgs::Marker> m_out(markers);
                        return markers;
                }
                
        private:
                
                vector<visualization_msgs::Marker> markers;
};

vector<visualization_msgs::Marker> create_Markers_ElavationMap(Navigability_Map& nav_map, std::string grid_frame);

visualization_msgs::Marker create_Markers_Normals(Navigability_Map& nav_map, std::string grid_frame);

vector<visualization_msgs::Marker> create_Markers_AccessibilityMap(Navigability_Map& nav_map, std::string grid_frame);

visualization_msgs::Marker create_Markers_Polygon(Navigability_Map& nav_map, std::string grid_frame);
visualization_msgs::Marker create_Markers_Obstacle(Navigability_Map& nav_map, std::string grid_frame);


#endif