Rangement

rviz_interface/src/RvizInterface.hpp

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+/*
+ * Rviz interface to send objective.
+ * Composed of 3D marker and a configuration panel.
+ * @author : antoine.harle@etu.upmc.Fr
+ * @see : InteractiveObject.cpp/.hpp, InterfacePanel.cpp/.hpp
+ */
+
+#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>
+
+#include <rviz_interface/NamedPoint.h>
+
+class RvizInterface
+{
+protected:
+	ros::NodeHandle _n; 
+
+	//Publisher ROS
+	ros::Publisher _objective_pub;
+	ros::Publisher _visualization_pub;
+
+	//Subscriber ROS
+	ros::Subscriber _config_sub;
+	ros::Subscriber _position_sub;
+	
+	//Serveur de marker interactif
+	interactive_markers::InteractiveMarkerServer _server;
+
+	//Objets de l'interface
+	std::vector<InteractiveObject*> _objects;
+
+public: 
+	RvizInterface();
+	~RvizInterface();
+
+	//Fonction Callback du panel Rviz gérant les configurations
+	void configCallback(const rviz_interface::InterfaceConfig & new_config);
+
+	//Fonction callback gérant la position des objets
+	void positionCallback(const rviz_interface::NamedPoint & new_center);
+};
+
+#endif