C++笔记之表驱动法-全局静态结构体变量的应用实例ColorMAP

news2024/11/22 10:51:42

C++笔记之表驱动法-全局静态结构体变量的应用实例ColorMAP

code review!

代码

#include <ros/ros.h>
#include <visualization_msgs/Marker.h>

struct RGBA{
    RGBA(){
        red.r = 1; green.r = 0; blue.r = 0;
        red.g = 0; green.g = 1; blue.g = 0;
        red.b = 0; green.b = 0; blue.b = 1;
        red.a = 1; green.a = 1; blue.a = 1;
        ColorMAP={
            {"red",   red  },
            {"green", green},
            {"blue",  blue }
        };
    };
    std_msgs::ColorRGBA red;
    std_msgs::ColorRGBA green;
    std_msgs::ColorRGBA blue;
    std::map<std::string,std_msgs::ColorRGBA> ColorMAP;
};

static RGBA rgba;

int main(int argc, char** argv)
{
    ros::init(argc, argv, "marker_publisher");
    ros::NodeHandle nh;

    ros::Publisher marker_pub = nh.advertise<visualization_msgs::Marker>("marker", 10);

    // 创建第一个Marker
    visualization_msgs::Marker marker1;
    marker1.header.frame_id = "map";
    marker1.header.stamp = ros::Time::now();
    marker1.lifetime = ros::Duration();  // 设置持久化属性为false
    marker1.ns = "marker1";
    marker1.id = 1;
    marker1.type = visualization_msgs::Marker::SPHERE;
    marker1.pose.position.x = 1.0;
    marker1.pose.position.y = 2.0;
    marker1.pose.position.z = 0.0;
    marker1.pose.orientation.w = 1.0;
    marker1.scale.x = 0.5;
    marker1.scale.y = 0.5;
    marker1.scale.z = 0.5;
    marker1.color = rgba.ColorMAP["red"];

    // 创建第二个Marker
    visualization_msgs::Marker marker2;
    marker2.header.frame_id = "map";
    marker2.header.stamp = ros::Time::now();
    marker2.lifetime = ros::Duration();  // 设置持久化属性为false
    marker2.ns = "marker2";
    marker2.id = 2;
    marker2.type = visualization_msgs::Marker::CUBE;
    marker2.pose.position.x = -1.0;
    marker2.pose.position.y = 2.0;
    marker2.pose.position.z = 0.0;
    marker2.pose.orientation.w = 1.0;
    marker2.scale.x = 0.5;
    marker2.scale.y = 0.5;
    marker2.scale.z = 0.5;
    marker2.color = rgba.ColorMAP["blue"];

    ros::Rate rate(1);  // 发布频率为1Hz

    while (ros::ok()) {

        // 发布单个Marker消息
        marker_pub.publish(marker1);
        marker_pub.publish(marker2);

        ros::spinOnce();
        rate.sleep();
    }

    return 0;
}