.. _program_listing_file__tmp_ws_src_cartographer_ros_cartographer_ros_include_cartographer_ros_node_options.h:

Program Listing for File node_options.h
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_cartographer_ros_cartographer_ros_include_cartographer_ros_node_options.h>` (``/tmp/ws/src/cartographer_ros/cartographer_ros/include/cartographer_ros/node_options.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright 2016 The Cartographer Authors
    *
    * 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 CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_OPTIONS_H
   #define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_OPTIONS_H
   
   #include <string>
   #include <tuple>
   
   #include "cartographer/common/lua_parameter_dictionary.h"
   #include "cartographer/common/port.h"
   #include "cartographer/mapping/proto/map_builder_options.pb.h"
   #include "cartographer_ros/trajectory_options.h"
   
   namespace cartographer_ros {
   
   // Top-level options of Cartographer's ROS integration.
   struct NodeOptions {
     ::cartographer::mapping::proto::MapBuilderOptions map_builder_options;
     std::string map_frame;
     double lookup_transform_timeout_sec;
     double submap_publish_period_sec;
     double pose_publish_period_sec;
     double trajectory_publish_period_sec;
     bool publish_to_tf = true;
     bool publish_tracked_pose = false;
     bool use_pose_extrapolator = true;
   };
   
   NodeOptions CreateNodeOptions(
       ::cartographer::common::LuaParameterDictionary* lua_parameter_dictionary);
   
   std::tuple<NodeOptions, TrajectoryOptions> LoadOptions(
       const std::string& configuration_directory,
       const std::string& configuration_basename);
   }  // namespace cartographer_ros
   
   #endif  // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_OPTIONS_H