#include <iostream>#include <sstream>#include <string>#include <vector>#include <math.h>#include <ros/ros.h>#include <XmlRpc.h>#include <nav_msgs/OccupancyGrid.h>#include <geometry_msgs/Point.h>#include <geometry_msgs/Pose2D.h>#include <nav_msgs/GridCells.h>#include <image_transport/image_transport.h>#include <message_filters/subscriber.h>#include <message_filters/sync_policies/approximate_time.h>#include <message_filters/synchronizer.h>#include <message_filters/time_synchronizer.h>#include <tf/transform_listener.h>#include <cob_map_accessibility_analysis/CheckPointAccessibility.h>#include <cob_map_accessibility_analysis/CheckPerimeterAccessibility.h>#include <cob_3d_mapping_msgs/GetApproachPoseForPolygon.h>#include <opencv2/opencv.hpp>#include <cv_bridge/cv_bridge.h>#include <sensor_msgs/image_encodings.h>#include <pcl/conversions.h>#include <pcl/point_types.h>#include <boost/thread/mutex.hpp>#include <boost/shared_ptr.hpp>#include <boost/tokenizer.hpp>#include <boost/foreach.hpp>#include <boost/algorithm/string.hpp>#include <cob_map_accessibility_analysis/map_accessibility_analysis.h>
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