trajectory_visualizer.hpp

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#pragma once
 
/*
 * Copyright (C) 2020-2022 LEIDOS.
 *
 * 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.
 */
 
#include <rclcpp/rclcpp.hpp>
#include <carma_planning_msgs/msg/trajectory_plan.hpp>
#include <carma_ros2_utils/carma_lifecycle_node.hpp>
#include <visualization_msgs/msg/marker_array.hpp>
#include "trajectory_visualizer_config.hpp"
 
namespace trajectory_visualizer 
{
 
    const double MPH_TO_MS = 0.44704;
 
  class TrajectoryVisualizer : public carma_ros2_utils::CarmaLifecycleNode
    {
 
     private:
       // Subscribers
       carma_ros2_utils::SubPtr<carma_planning_msgs::msg::TrajectoryPlan> traj_sub_;
 
       // Publishers
       carma_ros2_utils::PubPtr<visualization_msgs::msg::MarkerArray> traj_marker_pub_;
 
       // Node configuration
       Config config_;
 
       // callbacks
       void callbackPlanTrajectory(carma_planning_msgs::msg::TrajectoryPlan::UniquePtr msg);
 
       // variables    
       double max_speed_;
 
       size_t prev_marker_list_size_ = 0;
       // we are not saving every trajectory history at this point
 
     public:
 
      explicit TrajectoryVisualizer(const rclcpp::NodeOptions &);
 
       // Overrides
     carma_ros2_utils::CallbackReturn handle_on_configure(const rclcpp_lifecycle::State &);
 
    };
}