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Change thickness of wireframe cuboid #164

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Change thickness of wireframe cuboid #164

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b9ed6c0
change scale of wireframe cuboid
Jul 22, 2020
92526bb
Clang-format
JafarAbdi Jul 22, 2020
9ae8c15
Merge pull request #1 from PickNikRobotics/pr-clang_format
ekapilik Jul 24, 2020
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4 changes: 2 additions & 2 deletions include/rviz_visual_tools/imarker_simple.h
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Original file line number Diff line number Diff line change
Expand Up @@ -54,8 +54,8 @@

namespace rviz_visual_tools
{
using visualization_msgs::InteractiveMarkerFeedback;
using visualization_msgs::InteractiveMarkerControl;
using visualization_msgs::InteractiveMarkerFeedback;

typedef std::function<void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr&)> IMarkerCallback;

Expand All @@ -67,7 +67,7 @@ geometry_msgs::Pose getIdentityPose()
pose.orientation.w = 1.0;
return pose;
}
}
} // namespace

class IMarkerSimple
{
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5 changes: 3 additions & 2 deletions include/rviz_visual_tools/rviz_visual_tools.h
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Expand Up @@ -726,7 +726,8 @@ class RvizVisualTools
* \return true on success
*/
bool publishWireframeCuboid(const Eigen::Isometry3d& pose, double depth, double width, double height,
colors color = BLUE, const std::string& ns = "Wireframe Cuboid", std::size_t id = 0);
colors color = BLUE, scales scale = XXSMALL, const std::string& ns = "Wireframe Cuboid",
std::size_t id = 0);

/**
* \brief Publish transformed wireframe cuboid. Useful eg to show an oriented bounding box.
Expand All @@ -739,7 +740,7 @@ class RvizVisualTools
* \return true on success
*/
bool publishWireframeCuboid(const Eigen::Isometry3d& pose, const Eigen::Vector3d& min_point,
const Eigen::Vector3d& max_point, colors color = BLUE,
const Eigen::Vector3d& max_point, colors color = BLUE, scales scale = XXSMALL,
const std::string& ns = "Wireframe Cuboid", std::size_t id = 0);

/**
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10 changes: 5 additions & 5 deletions src/rviz_visual_tools.cpp
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Expand Up @@ -2143,17 +2143,17 @@ bool RvizVisualTools::publishPolygon(const geometry_msgs::Polygon& polygon, colo
}

bool RvizVisualTools::publishWireframeCuboid(const Eigen::Isometry3d& pose, double depth, double width, double height,
colors color, const std::string& ns, std::size_t id)
colors color, scales scale, const std::string& ns, std::size_t id)
{
Eigen::Vector3d min_point, max_point;
min_point << -depth / 2, -width / 2, -height / 2;
max_point << depth / 2, width / 2, height / 2;
return publishWireframeCuboid(pose, min_point, max_point, color, ns, id);
return publishWireframeCuboid(pose, min_point, max_point, color, scale, ns, id);
}

bool RvizVisualTools::publishWireframeCuboid(const Eigen::Isometry3d& pose, const Eigen::Vector3d& min_point,
const Eigen::Vector3d& max_point, colors color, const std::string& ns,
std::size_t id)
const Eigen::Vector3d& max_point, colors color, scales scale,
const std::string& ns, std::size_t id)
{
// Extract 8 cuboid vertices
Eigen::Vector3d p1(min_point[0], min_point[1], min_point[2]);
Expand Down Expand Up @@ -2188,7 +2188,7 @@ bool RvizVisualTools::publishWireframeCuboid(const Eigen::Isometry3d& pose, cons
}

std_msgs::ColorRGBA this_color = getColor(color);
line_list_marker_.scale = getScale(XXSMALL);
line_list_marker_.scale = getScale(scale);
line_list_marker_.scale.y = 0;
line_list_marker_.scale.z = 0;
line_list_marker_.color = this_color;
Expand Down