.. _program_listing_file__tmp_ws_src_grid_map_grid_map_demos_include_grid_map_demos_FiltersDemo.hpp:

Program Listing for File FiltersDemo.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_demos_include_grid_map_demos_FiltersDemo.hpp>` (``/tmp/ws/src/grid_map/grid_map_demos/include/grid_map_demos/FiltersDemo.hpp``)

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

.. code-block:: cpp

   /*
    * FiltersDemo.hpp
    *
    *  Created on: Aug 16, 2017
    *      Author: Peter Fankhauser
    *   Institute: ETH Zurich, ANYbotics
    *
    */
   
   #ifndef GRID_MAP_DEMOS__FILTERSDEMO_HPP_
   #define GRID_MAP_DEMOS__FILTERSDEMO_HPP_
   
   #include <grid_map_ros/grid_map_ros.hpp>
   
   #include <filters/filter_chain.hpp>
   #include <rclcpp/rclcpp.hpp>
   #include <string>
   
   namespace grid_map_demos
   {
   
   class FiltersDemo : public rclcpp::Node
   {
   public:
     FiltersDemo();
   
     virtual ~FiltersDemo();
   
     bool readParameters();
   
     void callback(const grid_map_msgs::msg::GridMap::SharedPtr message);
   
   private:
     std::string inputTopic_;
   
     std::string outputTopic_;
   
     rclcpp::Subscription<grid_map_msgs::msg::GridMap>::SharedPtr subscriber_;
   
     rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr publisher_;
   
     filters::FilterChain<grid_map::GridMap> filterChain_;
   
     std::string filterChainParametersName_;
   };
   
   }  // namespace grid_map_demos
   #endif  // GRID_MAP_DEMOS__FILTERSDEMO_HPP_