00001 /* 00002 * PointCloudVisualization.hpp 00003 * 00004 * Created on: Sep 11, 2014 00005 * Author: Péter Fankhauser 00006 * Institute: ETH Zurich, ANYbotics 00007 */ 00008 00009 #pragma once 00010 00011 #include <grid_map_visualization/visualizations/VisualizationBase.hpp> 00012 #include <grid_map_core/GridMap.hpp> 00013 00014 // ROS 00015 #include <ros/ros.h> 00016 00017 namespace grid_map_visualization { 00018 00022 class PointCloudVisualization : public VisualizationBase 00023 { 00024 public: 00025 00031 PointCloudVisualization(ros::NodeHandle& nodeHandle, const std::string& name); 00032 00036 virtual ~PointCloudVisualization(); 00037 00043 bool readParameters(XmlRpc::XmlRpcValue& config); 00044 00048 bool initialize(); 00049 00055 bool visualize(const grid_map::GridMap& map); 00056 00057 private: 00059 std::string layer_; 00060 }; 00061 00062 } /* namespace */