78 lines
1.7 KiB
C
78 lines
1.7 KiB
C
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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include "carla/MsgPack.h"
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#include "carla/MsgPackAdaptors.h"
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#include "carla/geom/BoundingBox.h"
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#include "carla/geom/Location.h"
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#include "carla/geom/Rotation.h"
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#include "carla/rpc/Color.h"
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#ifdef _MSC_VER
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#pragma warning(push)
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#pragma warning(disable:4583)
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#pragma warning(disable:4582)
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#include <boost/variant2/variant.hpp>
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#pragma warning(pop)
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#else
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#include <boost/variant2/variant.hpp>
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#endif
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namespace carla {
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namespace rpc {
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class DebugShape {
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public:
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struct Point {
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geom::Location location;
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float size;
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MSGPACK_DEFINE_ARRAY(location, size);
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};
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struct Line {
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geom::Location begin;
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geom::Location end;
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float thickness;
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MSGPACK_DEFINE_ARRAY(begin, end, thickness);
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};
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struct Arrow {
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Line line;
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float arrow_size;
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MSGPACK_DEFINE_ARRAY(line, arrow_size);
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};
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struct Box {
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geom::BoundingBox box;
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geom::Rotation rotation;
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float thickness;
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MSGPACK_DEFINE_ARRAY(box, rotation, thickness);
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};
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struct String {
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geom::Location location;
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std::string text;
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bool draw_shadow;
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MSGPACK_DEFINE_ARRAY(location, text, draw_shadow);
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};
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boost::variant2::variant<Point, Line, Arrow, Box, String> primitive;
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Color color = {255u, 0u, 0u};
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float life_time = -1.0f;
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bool persistent_lines = true;
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MSGPACK_DEFINE_ARRAY(primitive, color, life_time, persistent_lines);
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};
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} // namespace rpc
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} // namespace carla
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