Class Visualization

• Defined in File Visualization.hpp

Class Documentation

class Visualization

Singleton class for visualizing various structures in ROS2 using MarkerArray.

Public Functions

void init(rclcpp::Node::SharedPtr node, const Params::Visualization &params)

Initialize the visualization publishers.

Parameters:

• node – Shared pointer to the ROS2 node.

• params – Visualization parameters.

void setHeader(const ubm_interfaces::msg::CustomHeader &header)

Set the header for the next published markers.

Parameters:

header – The ROS2 message header to use.

void visualize(const EdgeSet &edgeSet) const

Visualize a set of edges (e.g., triangulation).

Parameters:

edgeSet – The set of edges to visualize.

void visualize(const Trace &way) const

Visualize a path (trace) and its track limits.

Parameters:

way – The trace to visualize.

void visualize(const TraceBuffer &traceBuffer) const

Visualize a buffer of traces (e.g., for tree search visualization).

Parameters:

traceBuffer – The buffer of traces to visualize.

Public Static Functions

static Visualization &getInstance()

Get the singleton instance of Visualization.

Returns:

Reference to the Visualization instance.