Program Listing for File VisualizationBase.hpp

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/*
 * VisualizationBase.hpp
 *
 *  Created on: Mar 20, 2015
 *      Author: Péter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#ifndef GRID_MAP_VISUALIZATION__VISUALIZATIONS__VISUALIZATIONBASE_HPP_
#define GRID_MAP_VISUALIZATION__VISUALIZATIONS__VISUALIZATIONBASE_HPP_


#include <grid_map_core/GridMap.hpp>

// ROS
#include <rclcpp/rclcpp.hpp>

#include <map>
#include <string>

namespace grid_map_visualization
{

class VisualizationBase
{
public:
  explicit VisualizationBase(const std::string & name, rclcpp::Node::SharedPtr nodePtr);

  virtual ~VisualizationBase();

  virtual bool readParameters() = 0;

  virtual bool initialize() = 0;

  virtual bool visualize(const grid_map::GridMap & map) = 0;

  bool isActive() const;

protected:
  std::string name_;

  rclcpp::Node::SharedPtr nodePtr_;
};

}  // namespace grid_map_visualization
#endif  // GRID_MAP_VISUALIZATION__VISUALIZATIONS__VISUALIZATIONBASE_HPP_