22 #ifndef _PLUGINS_COLLI_VISUALIZATION_THREAD_H_
23 #define _PLUGINS_COLLI_VISUALIZATION_THREAD_H_
25 #ifdef HAVE_VISUAL_DEBUGGING
27 # include "common/types.h"
29 # include <aspect/configurable.h>
30 # include <aspect/logging.h>
31 # include <aspect/tf.h>
32 # include <core/threading/mutex.h>
33 # include <core/threading/thread.h>
34 # include <plugins/ros/aspect/ros.h>
43 class LaserOccupancyGrid;
46 typedef struct point_struct
point_t;
56 ColliVisualizationThread();
72 ros::Publisher *pub_roboshape_;
74 ros::Publisher *pub_cells_occ_;
75 ros::Publisher *pub_cells_near_;
76 ros::Publisher *pub_cells_mid_;
77 ros::Publisher *pub_cells_far_;
78 ros::Publisher *pub_cells_free_;
79 ros::Publisher *pub_search_path_;
81 std::vector<fawkes::point_t> cells_occ_;
82 std::vector<fawkes::point_t> cells_near_;
83 std::vector<fawkes::point_t> cells_mid_;
84 std::vector<fawkes::point_t> cells_far_;
85 std::vector<fawkes::point_t> cells_free_;
87 std::string frame_base_;
88 std::string frame_laser_;