map_grid_visualizer.h
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00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2010, Eric Perko
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00034 #ifndef MAP_GRID_VISUALIZER_H_
00035 #define MAP_GRID_VISUALIZER_H_
00036 
00037 #include <ros/ros.h>
00038 #include <base_local_planner/map_grid.h>
00039 #include <costmap_2d/costmap_2d.h>
00040 #include <base_local_planner/map_grid_cost_point.h>
00041 #include <pcl_ros/publisher.h>
00042 
00043 namespace base_local_planner {
00044     class MapGridVisualizer {
00045         public:
00049             MapGridVisualizer();
00050 
00057             void initialize(const std::string& name, std::string frame, boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function);
00058 
00062             ~MapGridVisualizer() {if(cost_cloud_) delete cost_cloud_;}
00063 
00067             void publishCostCloud(const costmap_2d::Costmap2D* costmap_p_);
00068 
00069         private:
00070             std::string name_; 
00071             boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function_; 
00072             ros::NodeHandle ns_nh_;
00073             pcl::PointCloud<MapGridCostPoint>* cost_cloud_;
00074             pcl_ros::Publisher<MapGridCostPoint> pub_;
00075     };
00076 };
00077 
00078 #endif


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:07:08