.. _program_listing_file__tmp_ws_src_slam_toolbox_include_slam_toolbox_slam_toolbox_sync.hpp:

Program Listing for File slam_toolbox_sync.hpp
==============================================

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

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

.. code-block:: cpp

   /*
    * slam_toolbox
    * Copyright Work Modifications (c) 2018, Simbe Robotics, Inc.
    * 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_SYNC_HPP_
   #define SLAM_TOOLBOX__SLAM_TOOLBOX_SYNC_HPP_
   
   #include <queue>
   #include <memory>
   #include "slam_toolbox/slam_toolbox_common.hpp"
   
   namespace slam_toolbox
   {
   
   class SynchronousSlamToolbox : public SlamToolbox
   {
   public:
     explicit SynchronousSlamToolbox(rclcpp::NodeOptions options);
     ~SynchronousSlamToolbox() {}
     void run();
   
   protected:
     void laserCallback(sensor_msgs::msg::LaserScan::ConstSharedPtr scan) override;
     bool clearQueueCallback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<slam_toolbox::srv::ClearQueue::Request> req,
       std::shared_ptr<slam_toolbox::srv::ClearQueue::Response> resp);
     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;
   
     std::queue<PosedScan> q_;
     std::shared_ptr<rclcpp::Service<slam_toolbox::srv::ClearQueue>> ssClear_;
     boost::mutex q_mutex_;
   };
   
   }  // namespace slam_toolbox
   
   #endif  // SLAM_TOOLBOX__SLAM_TOOLBOX_SYNC_HPP_