C++笔记之表驱动法

笔记之表驱动法"/>

C++笔记之表驱动法

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Markervisualization_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falsemarker1.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Markervisualization_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falsemarker2.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1Hzwhile (ros::ok()) {// 发布单个Marker消息marker_pub.publish(marker1);marker_pub.publish(marker2);ros::spinOnce();rate.sleep();}return 0;
}

主要目的是创建一个包含RGB颜色信息的结构体，并在程序初始化时设置颜色的默认值，同时提供一个全局的rgba对象，以便在后续的代码中可以方便地访问和使用这些颜色信息。这有助于使代码更加模块化和易于维护，因为颜色信息被封装在一个结构体中，并且可以在整个程序中共享。