Program Listing for File IteratorsDemo.hpp
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/*
* IteratorsDemo.hpp
*
* Created on: Nov 4, 2014
* Author: Péter Fankhauser
* Institute: ETH Zurich, ANYbotics
*
*/
#ifndef GRID_MAP_DEMOS__ITERATORSDEMO_HPP_
#define GRID_MAP_DEMOS__ITERATORSDEMO_HPP_
#include <grid_map_ros/grid_map_ros.hpp>
// ROS
#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/polygon_stamped.hpp>
namespace grid_map_demos
{
class IteratorsDemo : public rclcpp::Node
{
public:
IteratorsDemo();
virtual ~IteratorsDemo();
void demoGridMapIterator();
void demoSubmapIterator();
void demoCircleIterator();
void demoEllipseIterator();
void demoSpiralIterator();
void demoLineIterator();
void demoPolygonIterator(const bool prepareForOtherDemos = false);
void demoSlidingWindowIterator();
void publish();
private:
rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr gridMapPublisher_;
rclcpp::Publisher<geometry_msgs::msg::PolygonStamped>::SharedPtr polygonPublisher_;
grid_map::GridMap map_;
};
} // namespace grid_map_demos
#endif // GRID_MAP_DEMOS__ITERATORSDEMO_HPP_