.. _program_listing_file__tmp_ws_src_slam_toolbox_include_slam_toolbox_slam_mapper.hpp:

Program Listing for File slam_mapper.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_slam_toolbox_include_slam_toolbox_slam_mapper.hpp>` (``/tmp/ws/src/slam_toolbox/include/slam_toolbox/slam_mapper.hpp``)

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

.. code-block:: cpp

   /*
    * Author
    * Copyright (c) 2019 Samsung Research America
    *
    * THE WORK (AS DEFINED BELOW) IS PROVIDED UNDER THE TERMS OF THIS CREATIVE
    * COMMONS PUBLIC LICENSE ("CCPL" OR "LICENSE"). THE WORK IS PROTECTED BY
    * COPYRIGHT AND/OR OTHER APPLICABLE LAW. ANY USE OF THE WORK OTHER THAN AS
    * AUTHORIZED UNDER THIS LICENSE OR COPYRIGHT LAW IS PROHIBITED.
    *
    * BY EXERCISING ANY RIGHTS TO THE WORK PROVIDED HERE, YOU ACCEPT AND AGREE TO
    * BE BOUND BY THE TERMS OF THIS LICENSE. THE LICENSOR GRANTS YOU THE RIGHTS
    * CONTAINED HERE IN CONSIDERATION OF YOUR ACCEPTANCE OF SUCH TERMS AND
    * CONDITIONS.
    *
    */
   
   /* Author: Steven Macenski */
   
   #ifndef SLAM_TOOLBOX__SLAM_MAPPER_HPP_
   #define SLAM_TOOLBOX__SLAM_MAPPER_HPP_
   
   #include <memory>
   #include "geometry_msgs/msg/quaternion.hpp"
   #include "rclcpp/rclcpp.hpp"
   #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
   #include "tf2/utils.h"
   #include "slam_toolbox/toolbox_types.hpp"
   
   namespace mapper_utils
   {
   
   using namespace ::karto;  // NOLINT
   
   class SMapper
   {
   public:
     SMapper();
     ~SMapper();
   
     // get occupancy grid from scans
     karto::OccupancyGrid * getOccupancyGrid(const double & resolution);
   
     // convert Karto pose to TF pose
     tf2::Transform toTfPose(const karto::Pose2 & pose) const;
   
     // convert TF pose to karto pose
     karto::Pose2 toKartoPose(const tf2::Transform & pose) const;
   
     void configure(const rclcpp::Node::SharedPtr & node);
     void Reset();
   
     // // processors
     // kt_bool ProcessAtDock(LocalizedRangeScan* pScan);
     // kt_bool ProcessAgainstNode(LocalizedRangeScan* pScan,  const int& nodeId);
     // kt_bool ProcessAgainstNodesNearBy(LocalizedRangeScan* pScan);
     // kt_bool ProcessLocalization(LocalizedRangeScan* pScan);
   
     void setMapper(karto::Mapper * mapper);
     karto::Mapper * getMapper();
   
     void clearLocalizationBuffer();
   
   protected:
     std::unique_ptr<karto::Mapper> mapper_;
   };
   
   }  // namespace mapper_utils
   
   #endif   // SLAM_TOOLBOX__SLAM_MAPPER_HPP_