.. _program_listing_file__tmp_ws_src_slam_toolbox_include_slam_toolbox_slam_toolbox_localization.hpp:

Program Listing for File slam_toolbox_localization.hpp
======================================================

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

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

.. code-block:: cpp

   /*
    * slam_toolbox
    * Copyright Work Modifications (c) 2019, Steve Macenski
    *
    * 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_TOOLBOX_LOCALIZATION_HPP_
   #define SLAM_TOOLBOX__SLAM_TOOLBOX_LOCALIZATION_HPP_
   
   #include <memory>
   #include "slam_toolbox/slam_toolbox_common.hpp"
   #include "std_srvs/srv/empty.hpp"
   
   namespace slam_toolbox
   {
   
   class LocalizationSlamToolbox : public SlamToolbox
   {
   public:
     explicit LocalizationSlamToolbox(rclcpp::NodeOptions options);
     virtual ~LocalizationSlamToolbox() {}
     virtual void loadPoseGraphByParams();
   
   protected:
     virtual void laserCallback(
       sensor_msgs::msg::LaserScan::ConstSharedPtr scan) override;
     void localizePoseCallback(
       const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg);
     bool clearLocalizationBuffer(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<std_srvs::srv::Empty::Request> req,
       std::shared_ptr<std_srvs::srv::Empty::Response> resp);
   
     virtual bool serializePoseGraphCallback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<slam_toolbox::srv::SerializePoseGraph::Request> req,
       std::shared_ptr<slam_toolbox::srv::SerializePoseGraph::Response> resp) override;
     virtual bool deserializePoseGraphCallback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<slam_toolbox::srv::DeserializePoseGraph::Request> req,
       std::shared_ptr<slam_toolbox::srv::DeserializePoseGraph::Response> resp) override;
   
     virtual LocalizedRangeScan * addScan(
       LaserRangeFinder * laser,
       const sensor_msgs::msg::LaserScan::ConstSharedPtr & scan,
       Pose2 & pose) override;
   
     std::shared_ptr<rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>>
     localization_pose_sub_;
     std::shared_ptr<rclcpp::Service<std_srvs::srv::Empty> > clear_localization_;
   };
   
   }  // namespace slam_toolbox
   
   #endif  // SLAM_TOOLBOX__SLAM_TOOLBOX_LOCALIZATION_HPP_