Program Listing for File OccupancyGridVisualization.hpp
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)
/*
* PointCloudOccupancyGrid.hpp
*
* Created on: Nov 3, 2014
* Author: Péter Fankhauser
* Institute: ETH Zurich, ANYbotics
*/
#ifndef GRID_MAP_VISUALIZATION__VISUALIZATIONS__OCCUPANCYGRIDVISUALIZATION_HPP_
#define GRID_MAP_VISUALIZATION__VISUALIZATIONS__OCCUPANCYGRIDVISUALIZATION_HPP_
#include <grid_map_core/GridMap.hpp>
#include <nav_msgs/msg/occupancy_grid.hpp>
#include <string>
#include "grid_map_visualization/visualizations/VisualizationBase.hpp"
namespace grid_map_visualization
{
class OccupancyGridVisualization : public VisualizationBase
{
public:
explicit OccupancyGridVisualization(const std::string & name, rclcpp::Node::SharedPtr nodePtr);
virtual ~OccupancyGridVisualization();
bool readParameters() override;
bool initialize() override;
bool visualize(const grid_map::GridMap & map) override;
private:
std::string layer_;
// (used to normalize the cell data in [min, max]).
float dataMin_, dataMax_;
rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr publisher_;
};
} // namespace grid_map_visualization
#endif // GRID_MAP_VISUALIZATION__VISUALIZATIONS__OCCUPANCYGRIDVISUALIZATION_HPP_