.. _program_listing_file__tmp_ws_src_cartographer_ros_cartographer_ros_include_cartographer_ros_offline_node.h:

Program Listing for File offline_node.h
=======================================

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

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

.. code-block:: cpp

   /*
    * Copyright 2018 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_OFFLINE_NODE_H
   #define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_OFFLINE_NODE_H
   
   #include <functional>
   #include <memory>
   #include <string>
   #include <vector>
   
   #include <rclcpp/rclcpp.hpp>
   #include "cartographer/mapping/map_builder_interface.h"
   #include "cartographer_ros/node_options.h"
   
   namespace cartographer_ros {
   
   using MapBuilderFactory =
       std::function<std::unique_ptr<::cartographer::mapping::MapBuilderInterface>(
           const ::cartographer::mapping::proto::MapBuilderOptions&)>;
   
   void RunOfflineNode(const MapBuilderFactory& map_builder_factory,
                       rclcpp::Node::SharedPtr cartographer_offline_node);
   
   }  // namespace cartographer_ros
   
   #endif  // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_OFFLINE_NODE_H