Initial commit

rviz_interface/rviz_interface/src/RvizInterface.hpp

@@ -0,0 +1,30 @@
+#ifndef RVIZINTERFACE_HPP
+#define RVIZINTERFACE_HPP
+
+#include <ros/ros.h>
+
+#include <interactive_markers/interactive_marker_server.h>
+#include <tf/tf.h>
+
+#include "InteractiveObject.hpp"
+
+#include <rviz_interface/InterfaceConfig.h>
+
+class RvizInterface
+{
+protected:
+	ros::NodeHandle _n; 
+	ros::Publisher _objective_pub;
+	ros::Subscriber _config_sub;
+	interactive_markers::InteractiveMarkerServer _server;
+
+	std::vector<InteractiveObject*> _objects;
+
+public: 
+	RvizInterface();
+	~RvizInterface();
+
+	void configCallback(const rviz_interface::InterfaceConfig & new_config);
+};
+
+#endif