Visualization messages can be sent to the LCC to draw basic shapes and text in the monitoring view, where the vehicles are shown as well. An example use case for this would be to draw the desired path that a vehicle is supposed to take on command, to check if it actually follows this path. The messages can also be used to show additional information to the running program or simply to debug the sent trajectory by checking the created path visually.
The visualization IDL file looks as follows:
#include "Color.idl"
#include "Point2D.idl"
#ifndef VISUALIZATION_IDL
#define VISUALIZATION_IDL
enum VisualizationType
{
LineStrips=0,
Polygon,
StringMessage
};
struct Visualization
{
//Id to be able to delete the viz later on
string id; //@key
VisualizationType type;
unsigned long long time_to_live;
sequence<Point2D> points;
double size; //Line width in pixels or text size in pt
string string_message;
Color color;
};
#endif
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