visualization_manager.hpp

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// Copyright 2024 Kotaro Uetake.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef AWVIZ_COMMON__VISUALIZATION_MANAGER_HPP_
#define AWVIZ_COMMON__VISUALIZATION_MANAGER_HPP_
 
#include "awviz_common/display.hpp"
#include "awviz_common/display_factory.hpp"
#include "awviz_common/transformation/transformation_manager.hpp"
 
#include <rclcpp/rclcpp.hpp>
#include <rerun.hpp>
 
#include <map>
#include <memory>
#include <string>
 
namespace awviz_common
{
class VisualizationManager
{
public:
  VisualizationManager(
    rclcpp::Node::SharedPtr node, const std::shared_ptr<rerun::RecordingStream> & stream);
 
  ~VisualizationManager();
 
private:
  rclcpp::Node::SharedPtr node_;                          
  const std::shared_ptr<rerun::RecordingStream> stream_;  
  std::unique_ptr<DisplayFactory> display_factory_;       
  std::map<std::string, std::shared_ptr<Display>>
    display_group_;  
  std::unique_ptr<TransformationManager> tf_manager_;         
  rclcpp::CallbackGroup::SharedPtr parallel_callback_group_;  
  rclcpp::TimerBase::SharedPtr callback_timer_;               
 
private:
  void create_subscriptions();
};
}  // namespace awviz_common
#endif  // AWVIZ_COMMON__VISUALIZATION_MANAGER_HPP_